| /branches/V0.69k Code Redesign killagreg/GPS.c |
|---|
| File deleted |
| /branches/V0.69k Code Redesign killagreg/FlightCtrl.aps |
|---|
| 1,0 → 0,0 |
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|
| <AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>21-Mar-2008 18:51:49</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>E:\Daten\Bastelprojekte\Mikrokopter\Software\Soucen\FlightCtrl\V0.68d Code Redesign killagreg\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR 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-fshort-enums</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\Programme\Winavr\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\Programme\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>timer0.h</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>makefile</FileName><Status>1</Status></File00018></Files><Workspace><File00000><Position>251 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| /branches/V0.69k Code Redesign killagreg/Hex-Files/Conrad LEA-4H Config-4Hz.txt |
|---|
| 0,0 → 1,58 |
| MON-VER - 0A 04 46 00 35 2E 30 30 20 20 20 20 4A 75 6C 20 31 37 20 32 30 30 36 20 31 35 3A 30 38 3A 31 30 00 01 30 30 30 34 30 30 30 31 00 00 4D 34 48 31 2E 31 43 20 4A 75 6C 20 31 37 20 32 30 30 36 20 31 36 3A 34 32 3A 33 30 00 00 |
| CFG-ANT - 06 13 04 00 0B 00 0F 38 |
| CFG-DAT - 06 06 02 00 00 00 |
| CFG-FXN - 06 0E 24 00 12 00 00 00 C0 D4 01 00 C0 D4 01 00 C0 27 09 00 C0 27 09 00 A0 8C 00 00 40 77 1B 00 00 00 00 00 00 00 00 00 |
| CFG-INF - 06 02 08 00 00 00 00 00 00 87 00 00 |
| CFG-INF - 06 02 08 00 01 00 00 00 00 00 00 87 |
| CFG-INF - 06 02 08 00 03 00 00 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 02 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 04 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 06 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 08 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 11 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 12 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 20 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 21 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 22 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 30 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 31 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 32 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 10 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 11 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 20 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 02 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 06 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 07 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 08 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 09 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 30 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 31 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0D 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0D 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 00 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 01 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 02 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 03 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 04 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 05 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 06 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 07 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 08 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F1 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 04 00 00 00 00 |
| CFG-NAV2 - 06 1A 28 00 03 00 00 00 03 03 10 02 50 C3 00 00 0F 0A 05 3C 00 01 00 00 FA 00 FA 00 64 00 2C 01 00 00 00 00 00 00 00 00 00 00 00 00 |
| CFG-NMEA - 06 17 04 00 00 23 00 02 |
| CFG-PRT - 06 00 14 00 01 00 00 00 D0 08 08 00 00 E1 00 00 01 00 01 00 00 00 00 00 |
| CFG-PRT - 06 00 14 00 02 00 00 00 D0 08 08 00 00 E1 00 00 01 00 01 00 00 00 00 00 |
| CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00 |
| CFG-RATE - 06 08 06 00 FA 00 01 00 00 00 |
| CFG-RXM - 06 11 02 00 03 00 |
| CFG-SBAS - 06 16 08 00 00 00 01 00 00 00 00 00 |
| CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 34 03 00 00 00 00 |
| /branches/V0.69k Code Redesign killagreg/Hex-Files/Conrad LEA-4H Config-5Hz.txt |
|---|
| 0,0 → 1,58 |
| MON-VER - 0A 04 46 00 35 2E 30 30 20 20 20 20 4A 75 6C 20 31 37 20 32 30 30 36 20 31 35 3A 30 38 3A 31 30 00 01 30 30 30 34 30 30 30 31 00 00 4D 34 48 31 2E 31 43 20 4A 75 6C 20 31 37 20 32 30 30 36 20 31 36 3A 34 32 3A 33 30 00 00 |
| CFG-ANT - 06 13 04 00 0B 00 0F 38 |
| CFG-DAT - 06 06 02 00 00 00 |
| CFG-FXN - 06 0E 24 00 12 00 00 00 C0 D4 01 00 C0 D4 01 00 C0 27 09 00 C0 27 09 00 A0 8C 00 00 40 77 1B 00 00 00 00 00 00 00 00 00 |
| CFG-INF - 06 02 08 00 00 00 00 00 00 87 00 00 |
| CFG-INF - 06 02 08 00 01 00 00 00 00 00 00 87 |
| CFG-INF - 06 02 08 00 03 00 00 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 02 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 04 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 06 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 08 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 11 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 12 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 20 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 21 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 22 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 30 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 31 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 32 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 10 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 11 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 20 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 02 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 06 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 07 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 08 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 09 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 30 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 31 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0D 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0D 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 00 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 01 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 02 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 03 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 04 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 05 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 06 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 07 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 08 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F1 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 04 00 00 00 00 |
| CFG-NAV2 - 06 1A 28 00 03 00 00 00 03 03 10 02 50 C3 00 00 0F 0A 05 3C 00 01 00 00 FA 00 FA 00 64 00 2C 01 00 00 00 00 00 00 00 00 00 00 00 00 |
| CFG-NMEA - 06 17 04 00 00 23 00 02 |
| CFG-PRT - 06 00 14 00 01 00 00 00 D0 08 08 00 00 E1 00 00 01 00 01 00 00 00 00 00 |
| CFG-PRT - 06 00 14 00 02 00 00 00 D0 08 08 00 00 E1 00 00 01 00 01 00 00 00 00 00 |
| CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00 |
| CFG-RATE - 06 08 06 00 64 00 02 00 00 00 |
| CFG-RXM - 06 11 02 00 03 00 |
| CFG-SBAS - 06 16 08 00 00 00 01 00 00 00 00 00 |
| CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 34 03 00 00 00 00 |
| /branches/V0.69k Code Redesign killagreg/Hex-Files/Flight-Ctrl_MEGA644_KILLAGREG_V0_69k.hex |
|---|
| 0,0 → 1,2566 |
| :100000000C94E4030C9401040C9401040C9401047A |
| :100010000C9401040C9401040C9401040C9401044C |
| :100020000C9401040C94CA0D0C9401040C9401046A |
| :100030000C94BF190C9401040C9401040C948B19BA |
| :100040000C9401040C9401040C94F50C0C94283EBF |
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| /branches/V0.69k Code Redesign killagreg/Hex-Files/Flight-Ctrl_MEGA644p_NAVICTRL_V0_69k.hex |
|---|
| 0,0 → 1,2204 |
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| /branches/V0.69k Code Redesign killagreg/Hex-Files/Readme.txt |
|---|
| 0,0 → 1,159 |
| V0.69k Ausgangsversion. |
| G.Stobrawa 01.06.2008: |
| - Code stärker modularisiert und restrukturiert |
| - viele Kommentare zur Erklärug eingefügt |
| - konsequent englische Variablennamen |
| - PPM24 Support für bis zu 12 RC-Kanäle. |
| - Support für Kompass CMPS01, MK3MAG oder MM3 |
| - 2. Uart wird nun unterstützt (MCU = atmega644p im Makefile) |
| - Ausertung des UBX-Pprotocols an 1. oder 2. Uart |
| - einige kleinere Bugfixes |
| - GPS-Hold-Funktion hinzugefügt |
| - GPS-Home-Funktion hinzugefügt (wird beim Motorstart gelernt, und bei Motorenstop wieder gelöscht) |
| - Poti3 steuert die GPS Funktionen (Poti3 < 70:GPS inaktiv, 70<=Poti3<160: GPS Hold, 160<=Poti3: GPS Home) |
| - LED Steuerung an J16, parametrierbar durch die User Parameter 7 & 8. UserParam7 legt die |
| LEDOnTime in Vielfachen von 2ms fest und UserParam 8 die LEDOffTime. |
| - Zusätzliche Punkte im Menü des KopterTool zur Anzeige des GPS-Status und der MM3-Kalibierparameter |
| - Hardware Configuration: |
| - Die PWM des MK3MAG/CMPS03 wird wie bisher standard über den Port PC4 (Pin5 an SV1 der FC) eingelesen. |
| - Der MM3 wird wie folgt verbunden. |
| FC 1.0/1.1/1.2 Level Shifter MM3 |
| SCK (Pin1 SV5) ---> SCK (Pin1) |
| MISO (Pin3 SV5) <--- MISO (Pin2) |
| MOSI (Pin5 SV5) ---> MOSI (Pin3) |
| GND (Pin6 SV5) ---> GND (Pin7 / Pin14) |
| PC4 (Pin5 SV1) ---> SS (Pin4) |
| PC5 (Pin6 SV1) ---> RESET (Pin6) |
| Zusätzlich benötigt der MM3 noch eine 3V oder 3V3 Versorgung an VDD (Pin12). |
| - Für das UBLOX-Modul muss noch GPS-GND mit FC-GND (Pin7 SV1) und |
| die GPS-TXD Leitung mit FC-RXD (Pin1 SV1) verbunden werden, |
| wenn man die FC 1.0 mit dem Atmega644 verwendet. |
| Für die FC 1.1/1.2 mit Atmega644p-Bestückung benötigt man FC-RXD1 (Pin3 SV1). |
| Zusätzlich benötigt das UBLOX-Modul noch eine 5V-Versorgung die ggf. von |
| der FC (an Pin2 SV1) abgegriffen werden kann. |
| Wenn die FC gültige Messages vom GPS empfängt, blinkt die rote LED mit 4 Hz. |
| - Konfiguration des MK. |
| Es sollte ein Haken bei GPS und Kompass gesetzt sein. Wenn nur GPS Aktiviert ist, wird intern immer auch der |
| Kompass aktiviert, da er für den GPS-Regler unbedingt notwendig ist. |
| - Unter Sonstiges: Kompass-Wirkung etwa auf 50 bis 70. |
| - User Parameters: |
| Parameter 2 --> I-Factor for GPS PD controller (start with small values below 10) |
| Parameter 3 --> Calibration factor for transforming Gyro Integrals to angular degrees (~170) |
| Parameter 4 --> Angle between the MM3 Board (Arrow) and the MK head (typical ~180) |
| Parameter 5 --> P-Factor for GPS PD controller (~70) |
| Parameter 6 --> D-Factor for GPS PD controller (~140) |
| Parameter 7 --> LED1Time for J16 |
| Parameter 8 --> LED2Time for J17 |
| - LED-Steuerung an J16/J17 |
| Das Verhalten der über einen Transistor gegen Masse geschalteten Ausgänge J16/J17 wird mit |
| Hilfe der Userparameter 7 und 8 angepasst. |
| Es gilt: |
| UP7/8 < 20: Ausgang liegt dauerhaft auf Masse. |
| UP7/8 > 220: Ausgang ist dauerhaft hochohmig. |
| Sonst wird geblinkt, wobei sich die Frequenz mit dem Userparameter zwischen 2 bis 25 Hz einstellen lässt. |
| - Zusätzliche akustische Signale: |
| Signale die eine Fehlfunktion anzeigen: |
| Dauerton: Eine GPS-Funktion ist aktiviert und es werden keine oder |
| unvollständige GPS-Daten via UART empfangen. |
| Hier ist zu berücksichtigen, dass die folgenden UBX Messages am UBLOX |
| aktiviert wurden: NAV-POSLLH, NAV-SOL, NAV-VELNED. |
| Fehlt eine dieser Messages wird breits der Dauerton gesetzt. |
| 5Hz Piepen: Ist eine der GPS Funktion aktiviert, zeigt dass den Empfang valider UBX-Daten, |
| wenn noch kein 3D-Satfix vorliegt. Die Pausen zwischen den 4Hz Pieps werden |
| immer länger je mehr Satelitten das GPS empfängt. |
| Liegt ein 3D Fix vor, so verstummt der Pieper dann endgültig egal wie viele Satelitten |
| beteiligt sind (es müssen dafür aber mindesten 4 sein). |
| Ist die Comming Home Funktion aktiv (Poti3>160) und konnte keine Home-Position beim |
| Einschalten der Motoren eingelernt werden, so ertönt ebenfalls ein 4Hz-Piepen. |
| 10Hz Piepen: Die Kommunikation zum Kompassmodul ist gestört. (Funktioniert bei beiden Kompassmodulen) |
| Der CompassValue in den Debugs vom Koptertool zeigt dann -1 an. |
| Signale die eine Aktion bestätigen. |
| 1s Piepen: Ertönt dieses Signal nach dem Einschalten der Motoren wird die erfolgreiche |
| Übernahme der Home-Position bestätigt. |
| - Inbetriebnahme: |
| Nach dem Flashen des Codes sollte man die Kalibrierung für den MK3MAG/MM3 wiederholen, da diese Daten |
| an einer anderen Position im EEProm der FC abgelegt und wieder gelesen werden. |
| Das Vorgehen erfolgt beim MM3 und MK3MAG exakt gleich wie hier beschrieben. |
| http://www.mikrokopter.de/ucwiki/MK3Mag?highlight=%28mk3mag%29 |
| Zur Bestimmung des User Parameters 3 (Umrechnungsfaktor zwischen dem Gyrointegral und dem zugehörigen Neigungswinkel) |
| hat sich folgendes Vorgehen bewehrt. |
| - Man bestimmt den Wert des Roll- und Nick-Integrals für einen Neigungswinkel von 45° |
| über die Ausgaben des Koptertools. |
| - Aus diesem Wert kann man den benötigten UserParam3 berechnen. |
| UserParam3 = (Nick-Integral(45°)+Roll-Integral(45°))/2*GyroACCFaktor/45°/8. (typisch 170) |
| - Nachdem dieser Wert über die Settings des Koptertools im MK abgepeichert ist, sollte sich der CompassValue bei |
| Verkippungen nur unwesentlich verändern. |
| - Preflight GPS Test: |
| Ist der Kopter eingeschaltet, so kann man den GPS-Empfang überprüfen, in dem man Poti3 > 70 setzt. |
| Erhält man ein Dauerpiepen besteht keine Kommunikation zum GPS oder eine der benötigten UBX-Messseages fehlt. |
| Blinkt die rote LED der FC, so werden grundsätzlich valide Daten vom GPS empfangen. Abhilfe schafft dann die |
| Einstellung des GPS-Moduls via USB und u-Center sodass die UBX Messages NAV-POSLLH, NAV-SOL, NAV-VELNED |
| mit 57600 baud auf zum Target 1 (RS232) gesendet werden. Es empfiehlt sich alle anderen Sendungen inkl. NMEA |
| abzuschalten, da diese sonst durch den UBX-Parser auf der FC laufen und sinnlose Rechenzeit beanspruchen. |
| Am einfachsten geht das mit dem Konfigurationsfile "Conrad LEA-4H Config.txt". Dazu verbindet man das |
| UBLOX-Modul via USB mit dem PC und started das u-Center. Dan wählt man im Menü: |
| "Tools->GPS Configuration" dieses File aus und klickt auf den Button "File >> GPS". |
| Hat man diese Hürde genommen (Dauerpiepsen ist Weg), wird wahrscheinlich ein 5Hz piepen zu hören sein. |
| Dieses zeigt den korrekten Empfang aller UBX-Messages an. Je mehr Satelitten empfangen werden, desto länger werden |
| die Pausen zwischen den Pieps, bis sie schleißlich ganz verschwinden, was einen 3D-Satfix signalisiert. |
| Die GPS-Funktionen können ggf. nun wieder abgeschaltet werden (Poti3<70). |
| - Setzen der Home Position: |
| Startet man die Motoren, so ertönt in diesem Moment eine 1s-langer Piep, der die erfolgreiche Übernahme |
| der Home-Position bestätigt. Dies passiert immer, auch wenn keine GPS-Funktion aktiviert wurde (Poti3<70). |
| Es kann jedoch sein, dass das Signal nicht ertönt. In diesem Fall konnte keine Home Position |
| abgespeichert werden, da zu diesem Zeitpunkt kein 3D-Fix vorlag. Aktiviert man dann später während des Fluges Comming Home (Poti3>160) wird dieser Zustand mit einem 5Hz Piepen angezeigt. Der Kopter versucht dann |
| wenigstens ein Position Hold. Schaltet man die Motoren ab, so wird auch die ggf. |
| gespeicherte Home-Position gelöscht. |
| - Dynamishes Position Hold: |
| Ist 70 < Poti3 < 160 so ist die dynamische Position Hold Funktion aktiv. Solange sich der Nick- & Roll-Stick |
| in Zentralposiotion befinden (genauer Auschlag < 20 Counts) wird die laterale (XY)-Position durch das GPS- |
| Signal geregelt. Dabei wird versucht die Abweichung der aktuellen GPS-Position von der zum Zeitpunkt |
| der letzen Nick/Roll-Stickbewegung gespeicherten Position zu minimieren. (Siehe dazu auch D- & P-Parameter |
| des GPS-Reglers). Dadurch kann man den MK zu einer bestimmten Position steuern und behält diese bei. |
| Es kann vorkommen, das bei extremer Timmerstellung an Nick und Roll der Funke der |
| zugehörige Stickwert bereits eine Auslenkung > 20 zeigt. In diesem Fall wird das Position Hold |
| leider nicht aktiviert. Durch die automatische Abschaltung des GPS-Reglers für den Fall einer manuellen |
| Bedienung kann man jederzeit in das Flugverhalten eingreifen. |
| - Comming Home: |
| Ist Poti3 > 160 so ist die Comming Home Funktion aktiv. Das verhalten ist analog dem Position Hold, |
| jedoch ist das Regelziel nicht die zuletzt gespeichwerte GPS-Position sondern die zum Zeitpunkt des |
| Einschaltens der MOtoren gespeicherte Home Position. Eine manualle Bedienung von Nick- und Roll-Stick |
| unterbricht auch hier sofort den GPS-Regler und die Steuerung erfolgt manuell. |
| /branches/V0.69k Code Redesign killagreg/Hex-Files/WasIstWas.txt |
|---|
| 6,10 → 6,20 |
| Der Bootloader nur dann eingespielt werden, wenn noch nie ein Bootloader eingespielt wurde! |
| Danach können Softwareupdates seriell eingespielt werden. |
| Flight-Ctrl_MEGA644_Vx_yy.hex |
| Aktuelle Firmware |
| Wird per serielle Schnittstelle (durch den Bootloader) eingespielt |
| Aktuelle Firmware |
| Wird per serielle Schnittstelle (durch den Bootloader) eingespielt |
| Flight-Ctrl SW >= 0.69 benötigt das Kopter-Tool 1.50 |
| Flight-Ctrl SW > 0.62 benötigt das Kopter-Tool >1.47 |
| Flight-Ctrl_MEGA644_KILLAGREG_V0_69k.hex für Atmega644 mit Extension Board für MM3 und Conrad-GPS |
| Flight-Ctrl_MEGA644_NAVICTRL_V0_69k.hex für Atmega644 mit NaviCtrl |
| Flight-Ctrl_MEGA644_V0_69k.hex für Atmega655 mit Support für den CMPS03/MK3MAG an der FC |
| Flight-Ctrl_MEGA644p_KILLAGREG_V0_69k.hex für Atmega644 mit Extension Board für MM3 und Conrad-GPS |
| Flight-Ctrl_MEGA644p_NAVICTRL_V0_69k.hex für Atmega644 mit NaviCtrl |
| Flight-Ctrl_MEGA644p_V0_69k.hex für Atmega655 mit Support für den CMPS03/MK3MAG an der FC |
| Die Firmware läuft sowohl auf der FC 1.0 als auch auf der FC 1.1/1.2 |
| /branches/V0.69k Code Redesign killagreg/Kopter-Tool/MikroKopter-Tool.exe |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /branches/V0.69k Code Redesign killagreg/_Settings.h |
|---|
| 2,14 → 2,12 |
| // Testmodi |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MOTOR_OFF 0 |
| #define MOTOR_TEST 0 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Abstimmung |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ACC_AMPLIFY 12 |
| #define FAKTOR_P 1 |
| #define FAKTOR_I 0.0001 |
| #define FACTOR_I 0.0001 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 18,17 → 16,7 |
| #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: |
| // +++++++++++++++++++++++++++++++ |
| /branches/V0.69k Code Redesign killagreg/analog.c |
|---|
| 4,152 → 4,200 |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "analog.h" |
| #include "main.h" |
| #include "timer0.h" |
| #include "fc.h" |
| #include "printf_P.h" |
| #include "eeprom.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 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; |
| volatile int16_t Current_AccZ = 0; |
| volatile int16_t UBat = 100; |
| volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0; |
| volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0; |
| volatile int32_t AirPressure = 32000; |
| volatile int16_t StartAirPressure; |
| volatile uint16_t ReadingAirPressure = 1023; |
| uint8_t PressureSensorOffset; |
| volatile int16_t HeightD = 0; |
| volatile uint16_t MeasurementCounter = 0; |
| //####################################################################################### |
| // |
| /*****************************************************/ |
| /* Initialize Analog Digital Converter */ |
| /*****************************************************/ |
| 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 |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
| DDRA = 0x00; |
| PORTA = 0x00; |
| // Digital Input Disable Register 0 |
| // Disable digital input buffer for analog adc_channel pins |
| DIDR0 = 0xFF; |
| // external reference, adjust data to the right |
| ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
| // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| ADMUX = (ADMUX & 0xE0) | 0x00; |
| //Set ADC Control and Status Register A |
| //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
| ADCSRA = (1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
| //Set ADC Control and Status Register B |
| //Trigger Source to Free Running Mode |
| ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
| // Enable AD conversion |
| ADC_Enable(); |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| void SucheLuftruckOffset(void) |
| void SearchAirPressureOffset(void) |
| { |
| unsigned int off; |
| off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| Delay_ms_Mess(100); |
| if(MessLuftdruck < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| DruckOffsetSetting = off; |
| Delay_ms_Mess(300); |
| uint8_t off; |
| off = GetParamByte(PID_PRESSURE_OFFSET); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| Delay_ms_Mess(100); |
| if(ReadingAirPressure < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(ReadingAirPressure < 900) break; |
| } |
| SetParamByte(PID_PRESSURE_OFFSET, off); |
| PressureSensorOffset = off; |
| Delay_ms_Mess(300); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| /*****************************************************/ |
| /* Interrupt Service Routine for ADC */ |
| /*****************************************************/ |
| // runs at 156.25 kHz or 6.4 µs |
| // if after (70.4µs) all 11 states are processed the interrupt is disabled |
| // and the update of further ads is stopped |
| // The routine changes the ADC input muxer running |
| // thru the state machine by the following order. |
| // state 0: ch0 (yaw gyro) |
| // state 1: ch1 (roll gyro) |
| // state 2: ch2 (pitch gyro) |
| // state 3: ch4 (battery voltage -> UBat) |
| // state 4: ch6 (acc y -> Current_AccY) |
| // state 5: ch7 (acc x -> Current_AccX) |
| // state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw) |
| // state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll) |
| // state 8: ch2 (pitch gyro average with first reading -> AdValueGyrPitch) |
| // state 9: ch5 (acc z add also 4th part of acc x and acc y to reading) |
| // state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure) |
| ISR(ADC_vect) |
| { |
| static unsigned char kanal=0,state = 0; |
| static unsigned int gier1, roll1, nick1; |
| ANALOG_OFF; |
| static uint8_t adc_channel = 0, state = 0; |
| static uint16_t yaw1, roll1, pitch1; |
| static uint8_t average_pressure = 0; |
| static int16_t tmpAirPressure = 0; |
| // disable further AD conversion |
| ADC_Disable(); |
| // state machine |
| switch(state++) |
| { |
| case 0: |
| gier1 = ADC; |
| kanal = 1; |
| ZaehlMessungen++; |
| yaw1 = ADC; // get Gyro Yaw Voltage 1st sample |
| adc_channel = 1; // set next channel to ADC1 = ROLL GYRO |
| MeasurementCounter++; // increment total measurement counter |
| break; |
| case 1: |
| roll1 = ADC; |
| kanal = 2; |
| roll1 = ADC; // get Gyro Roll Voltage 1st sample |
| adc_channel = 2; // set next channel to ADC2 = PITCH GYRO |
| break; |
| case 2: |
| nick1 = ADC; |
| kanal = 4; |
| pitch1 = ADC; // get Gyro Pitch Voltage 1st sample |
| adc_channel = 4; // set next channel to ADC4 = UBAT |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3 |
| UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value |
| adc_channel = 6; // set next channel to ADC6 = ACC_Y |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| AdWertAccRoll = Aktuell_ay; |
| kanal = 7; |
| AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction |
| adc_channel = 7; // set next channel to ADC7 = ACC_X |
| break; |
| case 5: |
| Aktuell_ax = ADC - NeutralAccX; |
| AdWertAccNick = Aktuell_ax; |
| kanal = 0; |
| AdValueAccPitch = ADC - NeutralAccX; // get acceleration in X direction |
| adc_channel = 0; // set next channel to ADC7 = YAW GYRO |
| break; |
| case 6: |
| if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
| else AdWertGier = ADC + gier1; |
| kanal = 1; |
| // average over two samples to create current AdValueGyrYaw |
| if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2; |
| else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1 |
| adc_channel = 1; // set next channel to ADC7 = ROLL GYRO |
| break; |
| case 7: |
| if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
| else AdWertRoll = ADC + roll1; |
| kanal = 2; |
| // average over two samples to create current ADValueGyrRoll |
| if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2; |
| else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1 |
| adc_channel = 2; // set next channel to ADC2 = PITCH GYRO |
| break; |
| case 8: |
| if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
| else AdWertNick = ADC + nick1; |
| //AdWertNick = 0; |
| //AdWertNick += Poti2; |
| kanal = 5; |
| // average over two samples to create current ADValuePitch |
| if(BoardRelease == 10) AdValueGyrPitch = (ADC + pitch1) / 2; |
| else AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1 |
| adc_channel = 5; // set next channel to ADC5 = ACC_Z |
| break; |
| case 9: |
| AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| // AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(AdWertAccHoch > 1) |
| // get z acceleration |
| AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction |
| AdValueAccTop += abs(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4; |
| if(AdValueAccTop > 1) |
| { |
| if(NeutralAccZ < 750) |
| { |
| NeutralAccZ += 0.02; |
| if(modell_fliegt < 500) NeutralAccZ += 0.1; |
| } |
| } |
| else if(AdWertAccHoch < -1) |
| if(NeutralAccZ < 750) |
| { |
| NeutralAccZ += 0.02; |
| if(Model_Is_Flying < 500) NeutralAccZ += 0.1; |
| } |
| } |
| else if(AdValueAccTop < -1) |
| { |
| if(NeutralAccZ > 550) |
| { |
| NeutralAccZ-= 0.02; |
| if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
| } |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| kanal = 3; |
| if(NeutralAccZ > 550) |
| { |
| NeutralAccZ-= 0.02; |
| if(Model_Is_Flying < 500) NeutralAccZ -= 0.1; |
| } |
| } |
| Current_AccZ = ADC; |
| Reading_Integral_Top += AdValueAccTop; // Integrieren |
| Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen |
| adc_channel = 3; // set next channel to ADC3 = air pressure |
| break; |
| case 10: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(StartLuftdruck - tmpLuftdruck - HoehenWert))/8; // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| tmpAirPressure += ADC; // sum vadc values |
| if(++average_pressure >= 5) // if 5 values are summerized for averaging |
| { |
| ReadingAirPressure = ADC; // update measured air pressure |
| HeightD = (7 * HeightD + (int16_t)FCParam.Height_D * (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight))/8; // D-Part = CurrentValue - OldValue |
| AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
| ReadingHeight = StartAirPressure - AirPressure; |
| average_pressure = 0; // reset air pressure measurement counter |
| tmpAirPressure = 0; |
| } |
| adc_channel = 0; // set next channel to ADC0 = GIER GYRO |
| state = 0; // reset state machine |
| break; |
| default: |
| kanal = 0; |
| default: |
| adc_channel = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| if(state != 0) ANALOG_ON; |
| } |
| // set adc muxer to next adc_channel |
| ADMUX = (ADMUX & 0xE0) | adc_channel; |
| // after full cycle stop further interrupts |
| if(state != 0) ADC_Enable(); |
| } |
| /branches/V0.69k Code Redesign killagreg/analog.h |
|---|
| 1,24 → 1,29 |
| /*####################################################################################### |
| #ifndef _ANALOG_H |
| #define _ANALOG_H |
| #######################################################################################*/ |
| #include <inttypes.h> |
| extern volatile int UBat; |
| extern volatile int AdWertNick, AdWertRoll, AdWertGier; |
| extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch; |
| 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 volatile char MessanzahlNick; |
| extern volatile int16_t UBat; |
| extern volatile int16_t AdValueGyrPitch, AdValueGyrRoll, AdValueGyrYaw; |
| extern volatile int16_t AdValueAccRoll, AdValueAccPitch, AdValueAccTop; |
| extern volatile int16_t Current_AccZ; |
| extern volatile int32_t AirPressure; |
| extern volatile uint16_t MeasurementCounter; |
| extern uint8_t PressureSensorOffset; |
| extern volatile int16_t HeightD; |
| extern volatile uint16_t ReadingAirPressure; |
| extern volatile int16_t StartAirPressure; |
| unsigned int ReadADC(unsigned char adc_input); |
| void ADC_Init(void); |
| void SucheLuftruckOffset(void); |
| extern void SearchAirPressureOffset(void); |
| extern void ADC_Init(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| // clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
| #define ADC_Disable() (ADCSRA &= ~((1<<ADEN)|(1<<ADSC)|(1<<ADIE))) |
| // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
| #define ADC_Enable() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
| #endif //_ANALOG_H |
| /branches/V0.69k Code Redesign killagreg/eeprom.c |
|---|
| 1,182 → 1,321 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Konstanten |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void DefaultKonstanten1(void) |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #include <avr/eeprom.h> |
| #include <string.h> |
| #include "eeprom.h" |
| #include "printf_P.h" |
| // byte array in eeprom |
| uint8_t EEPromArray[E2END+1] EEMEM; |
| paramset_t ParamSet; |
| /***************************************************/ |
| /* Default Values for parameter set 1 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet1(void) // sport |
| { |
| 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 = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 4; // Wert : 0-50 |
| EE_Parameter.Stick_P = 15; // Wert : 1-6 |
| EE_Parameter.Stick_D = 30; // Wert : 0-64 |
| EE_Parameter.Gier_P = 12; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 80; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 30; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 253; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 100; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 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; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsGegenKopplung1 = 5; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 16; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 100; |
| memcpy(EE_Parameter.Name, "Sport\0", 12); |
| ParamSet.ChannelAssignment[CH_PITCH] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_THRUST] = 3; |
| ParamSet.ChannelAssignment[CH_YAW] = 4; |
| ParamSet.ChannelAssignment[CH_POTI1] = 5; |
| ParamSet.ChannelAssignment[CH_POTI2] = 6; |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;//0x01; |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 4; // Wert : 0-50 |
| ParamSet.Stick_P = 15; // Wert : 1-24 |
| ParamSet.Stick_D = 30; // Wert : 0-250 |
| ParamSet.Yaw_P = 12; // Wert : 1-20 |
| ParamSet.Trust_Min = 8; // Wert : 0-32 |
| ParamSet.Trust_Max = 230; // Wert : 33-250 |
| ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
| ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
| ParamSet.Gyro_P = 80; // Wert : 0-250 |
| ParamSet.Gyro_I = 150; // Wert : 0-250 |
| ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
| ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| ParamSet.EmergencyThrustDuration = 30; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
| ParamSet.UfoArrangement = 0; // X oder + Formation |
| ParamSet.I_Factor = 32; |
| ParamSet.UserParam1 = 253; //zur freien Verwendung |
| ParamSet.UserParam2 = 100; //zur freien Verwendung |
| ParamSet.UserParam3 = 90; //zur freien Verwendung |
| ParamSet.UserParam4 = 90; //zur freien Verwendung |
| ParamSet.UserParam5 = 90; // zur freien Verwendung |
| ParamSet.UserParam6 = 90; // zur freien Verwendung |
| ParamSet.UserParam7 = 0; // zur freien Verwendung |
| ParamSet.UserParam8 = 0; // zur freien Verwendung |
| ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
| ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchRefresh = 5; |
| ParamSet.LoopThrustLimit = 50; |
| ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| ParamSet.Yaw_PosFeedback = 90; |
| ParamSet.Yaw_NegFeedback = 5; |
| ParamSet.AngleTurnOverPitch = 100; |
| ParamSet.AngleTurnOverRoll = 100; |
| ParamSet.GyroAccTrim = 16; // 1/k |
| ParamSet.DriftComp = 4; |
| ParamSet.DynamicStability = 100; |
| memcpy(ParamSet.Name, "Sport\0",6); |
| } |
| void DefaultKonstanten2(void) |
| /***************************************************/ |
| /* Default Values for parameter set 2 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet2(void) // normal |
| { |
| 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 = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 3; // Wert : 0-50 |
| EE_Parameter.Stick_P = 12; // Wert : 1-6 |
| EE_Parameter.Stick_D = 16; // Wert : 0-64 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 80; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 30; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 253; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 100; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 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; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
| EE_Parameter.AchsGegenKopplung1 = 5; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 75; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| ParamSet.ChannelAssignment[CH_PITCH] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_THRUST] = 3; |
| ParamSet.ChannelAssignment[CH_YAW] = 4; |
| ParamSet.ChannelAssignment[CH_POTI1] = 5; |
| ParamSet.ChannelAssignment[CH_POTI2] = 6; |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;//0x01; |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 3; // Wert : 0-50 |
| ParamSet.Stick_P = 12; // Wert : 1-24 |
| ParamSet.Stick_D = 16; // Wert : 0-250 |
| ParamSet.Yaw_P = 6; // Wert : 1-20 |
| ParamSet.Trust_Min = 8; // Wert : 0-32 |
| ParamSet.Trust_Max = 230; // Wert : 33-250 |
| ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
| ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
| ParamSet.Gyro_P = 80; // Wert : 0-250 |
| ParamSet.Gyro_I = 120; // Wert : 0-250 |
| ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
| ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| ParamSet.EmergencyThrustDuration = 30; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
| ParamSet.UfoArrangement = 0; // X oder + Formation |
| ParamSet.I_Factor = 32; |
| ParamSet.UserParam1 = 253; // zur freien Verwendung |
| ParamSet.UserParam2 = 100; // zur freien Verwendung |
| ParamSet.UserParam3 = 90; // zur freien Verwendung |
| ParamSet.UserParam4 = 90; // zur freien Verwendung |
| ParamSet.UserParam5 = 90; // zur freien Verwendung |
| ParamSet.UserParam6 = 90; // zur freien Verwendung |
| ParamSet.UserParam7 = 0; // zur freien Verwendung |
| ParamSet.UserParam8 = 0; // zur freien Verwendung |
| ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
| ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchRefresh = 5; |
| ParamSet.LoopThrustLimit = 50; |
| ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| ParamSet.Yaw_PosFeedback = 90; // Faktor, mit dem Yaw die Achsen Roll und Pitch verkoppelt |
| ParamSet.Yaw_NegFeedback = 5; |
| ParamSet.AngleTurnOverPitch = 100; |
| ParamSet.AngleTurnOverRoll = 100; |
| ParamSet.GyroAccTrim = 32; // 1/k |
| ParamSet.DriftComp = 4; |
| ParamSet.DynamicStability = 75; |
| memcpy(ParamSet.Name, "Normal\0", 7); |
| } |
| void DefaultKonstanten3(void) |
| /***************************************************/ |
| /* Default Values for parameter set 3 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet3(void) // beginner |
| { |
| 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 = CFG_DREHRATEN_BEGRENZER | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 3; // Wert : 0-50 |
| EE_Parameter.Stick_P = 8; // Wert : 1-6 |
| EE_Parameter.Stick_D = 16; // Wert : 0-64 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 100; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // 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 = 16; |
| EE_Parameter.UserParam1 = 253; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 100; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 90; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 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; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
| EE_Parameter.AchsGegenKopplung1 = 5; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 50; |
| memcpy(EE_Parameter.Name, "Beginner\0", 12); |
| ParamSet.ChannelAssignment[CH_PITCH] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_THRUST] = 3; |
| ParamSet.ChannelAssignment[CH_YAW] = 4; |
| ParamSet.ChannelAssignment[CH_POTI1] = 5; |
| ParamSet.ChannelAssignment[CH_POTI2] = 6; |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX;//0x01; |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 3; // Wert : 0-50 |
| ParamSet.Stick_P = 8; // Wert : 1-24 |
| ParamSet.Stick_D = 16; // Wert : 0-250 |
| ParamSet.Yaw_P = 6; // Wert : 1-20 |
| ParamSet.Trust_Min = 8; // Wert : 0-32 |
| ParamSet.Trust_Max = 230; // Wert : 33-250 |
| ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
| ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
| ParamSet.Gyro_P = 100; // Wert : 0-250 |
| ParamSet.Gyro_I = 120; // Wert : 0-250 |
| ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
| ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| ParamSet.EmergencyThrustDuration = 20; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
| ParamSet.UfoArrangement = 0; // X oder + Formation |
| ParamSet.I_Factor = 16; |
| ParamSet.UserParam1 = 253; // zur freien Verwendung |
| ParamSet.UserParam2 = 100; // zur freien Verwendung |
| ParamSet.UserParam3 = 90; // zur freien Verwendung |
| ParamSet.UserParam4 = 90; // zur freien Verwendung |
| ParamSet.UserParam5 = 90; // zur freien Verwendung |
| ParamSet.UserParam6 = 90; // zur freien Verwendung |
| ParamSet.UserParam7 = 0; // zur freien Verwendung |
| ParamSet.UserParam8 = 0; // zur freien Verwendung |
| ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
| ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchRefresh = 5; |
| ParamSet.LoopThrustLimit = 50; |
| ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| ParamSet.Yaw_PosFeedback = 90; // Faktor, mit dem Yaw die Achsen Roll und Pitch verkoppelt |
| ParamSet.Yaw_NegFeedback = 5; |
| ParamSet.AngleTurnOverPitch = 100; |
| ParamSet.AngleTurnOverRoll = 100; |
| ParamSet.GyroAccTrim = 32; // 1/k |
| ParamSet.DriftComp = 4; |
| ParamSet.DynamicStability = 50; |
| memcpy(ParamSet.Name, "Beginner\0", 9); |
| } |
| /***************************************************/ |
| /* Read Parameter from EEPROM as byte */ |
| /***************************************************/ |
| uint8_t GetParamByte(uint8_t param_id) |
| { |
| return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| } |
| /***************************************************/ |
| /* Write Parameter to EEPROM as byte */ |
| /***************************************************/ |
| void SetParamByte(uint8_t param_id, uint8_t value) |
| { |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| } |
| /***************************************************/ |
| /* Read Parameter from EEPROM as word */ |
| /***************************************************/ |
| uint16_t GetParamWord(uint8_t param_id) |
| { |
| return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| } |
| /***************************************************/ |
| /* Write Parameter to EEPROM as word */ |
| /***************************************************/ |
| void SetParamWord(uint8_t param_id, uint16_t value) |
| { |
| eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| } |
| /***************************************************/ |
| /* Read Parameter Set from EEPROM */ |
| /***************************************************/ |
| // number [0..5] |
| void ParamSet_ReadFromEEProm(uint8_t setnumber) |
| { |
| if (setnumber > 5) setnumber = 5; |
| eeprom_read_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * setnumber], PARAMSET_STRUCT_LEN); |
| } |
| /***************************************************/ |
| /* Write Parameter Set to EEPROM */ |
| /***************************************************/ |
| // number [0..5] |
| void ParamSet_WriteToEEProm(uint8_t setnumber) |
| { |
| if(setnumber > 5) setnumber = 5; |
| eeprom_write_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * setnumber], PARAMSET_STRUCT_LEN); |
| // set this parameter set to active set |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| /***************************************************/ |
| /* Get active parameter set */ |
| /***************************************************/ |
| uint8_t GetActiveParamSet(void) |
| { |
| uint8_t setnumber; |
| setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
| if(setnumber > 5) |
| { |
| setnumber = 2; |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| return(setnumber); |
| } |
| /***************************************************/ |
| /* Set active parameter set */ |
| /***************************************************/ |
| void SetActiveParamSet(uint8_t setnumber) |
| { |
| if(setnumber > 5) setnumber = 5; |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| /***************************************************/ |
| /* Initialize EEPROM Parameter Sets */ |
| /***************************************************/ |
| void ParamSet_Init(void) |
| { |
| // version check |
| if(eeprom_read_byte(&EEPromArray[PID_VERSION]) != EEPARAM_VERSION) |
| { |
| // if version check faild |
| printf("\n\rInit. EEPROM: Generating Default-Parameter..."); |
| ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
| // fill all 5 parameter settings with set 1 except otherwise defined |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) ParamSet_DefaultSet2(); // Kamera |
| if(i==3) ParamSet_DefaultSet3(); // Beginner |
| if(i>3) ParamSet_DefaultSet2(); // Kamera |
| ParamSet_WriteToEEProm(i); |
| } |
| // default-Setting is parameter set 3 |
| SetParamByte(PID_ACTIVE_SET, 3); |
| // update version info |
| SetParamByte(PID_VERSION, EEPARAM_VERSION); |
| } |
| // read active parameter set to ParamSet stucture |
| ParamSet_ReadFromEEProm(GetParamByte(PID_ACTIVE_SET)); |
| printf("\n\rUsing Parameter Set %d", GetParamByte(PID_ACTIVE_SET)); |
| } |
| /branches/V0.69k Code Redesign killagreg/eeprom.h |
|---|
| 0,0 → 1,123 |
| #ifndef _EEPROM_H |
| #define _EEPROM_H |
| #include <inttypes.h> |
| #define EEPROM_ADR_PARAM_BEGIN 0 |
| #define PID_VERSION 1 // byte |
| #define PID_ACTIVE_SET 2 // byte |
| #define PID_PRESSURE_OFFSET 3 // byte |
| #define PID_ACC_PITCH 4 // word |
| #define PID_ACC_ROLL 6 // word |
| #define PID_ACC_Z 8 // word |
| #ifdef USE_KILLAGREG |
| #define PID_MM3_X_OFF 10 // byte |
| #define PID_MM3_Y_OFF 11 // byte |
| #define PID_MM3_Z_OFF 12 // byte |
| #define PID_MM3_X_RANGE 13 // word |
| #define PID_MM3_Y_RANGE 15 // word |
| #define PID_MM3_Z_RANGE 17 // word |
| #endif |
| #define EEPROM_ADR_PARAMSET_BEGIN 100 |
| // bit mask for mk_param_struct.GlobalConfig |
| #define CFG_HEIGHT_CONTROL 0x01 |
| #define CFG_HEIGHT_SWITCH 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_COMPASS_ACTIVE 0x08 |
| #define CFG_COMPASS_FIX 0x10 |
| #define CFG_GPS_ACTIVE 0x20 |
| #define CFG_AXIS_COUPLING_ACTIVE 0x40 |
| #define CFG_ROTARY_RATE_LIMITER 0x80 |
| // bit mask for mk_param_struct.LoopConfig |
| #define CFG_LOOP_UP 0x01 |
| #define CFG_LOOP_DOWN 0x02 |
| #define CFG_LOOP_LEFT 0x04 |
| #define CFG_LOOP_RIGHT 0x08 |
| // defines for lookup mk_param_struct.ChannelAssignment |
| #define CH_PITCH 0 |
| #define CH_ROLL 1 |
| #define CH_THRUST 2 |
| #define CH_YAW 3 |
| #define CH_POTI1 4 |
| #define CH_POTI2 5 |
| #define CH_POTI3 6 |
| #define CH_POTI4 7 |
| #define EEPARAM_VERSION 70 // is count up, if EE_Paramater stucture has changed (compatibility) |
| // values above 250 representing poti1 to poti4 |
| typedef struct |
| { |
| uint8_t ChannelAssignment[8]; // see upper defines for details |
| uint8_t GlobalConfig; // see upper defines for bitcoding |
| uint8_t Height_MinThrust; // Wert : 0-100 |
| uint8_t Height_D; // Wert : 0-250 |
| uint8_t MaxHeight; // Wert : 0-32 |
| uint8_t Height_P; // Wert : 0-32 |
| uint8_t Height_Gain; // Wert : 0-50 |
| uint8_t Height_ACC_Effect; // Wert : 0-250 |
| uint8_t Stick_P; // Wert : 1-6 |
| uint8_t Stick_D; // Wert : 0-64 |
| uint8_t Yaw_P; // Wert : 1-20 |
| uint8_t Trust_Min; // Wert : 0-32 |
| uint8_t Trust_Max; // Wert : 33-250 |
| uint8_t GyroAccFactor; // Wert : 1-64 |
| uint8_t CompassYawEffect; // Wert : 0-32 |
| uint8_t Gyro_P; // Wert : 10-250 |
| uint8_t Gyro_I; // Wert : 0-250 |
| uint8_t LowVoltageWarning; // Wert : 0-250 |
| uint8_t EmergencyThrust; // Wert : 0-250 //Gaswert bei Empängsverlust |
| uint8_t EmergencyThrustDuration; // Wert : 0-250 // Zeitbis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
| uint8_t UfoArrangement; // x oder + Formation |
| uint8_t I_Factor; // Wert : 0-250 |
| uint8_t UserParam1; // Wert : 0-250 |
| uint8_t UserParam2; // Wert : 0-250 |
| uint8_t UserParam3; // Wert : 0-250 |
| uint8_t UserParam4; // Wert : 0-250 |
| uint8_t ServoPitchControl; // Wert : 0-250 // Stellung des Servos |
| uint8_t ServoPitchComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| uint8_t ServoPitchMin; // Wert : 0-250 // Anschlag |
| uint8_t ServoPitchMax; // Wert : 0-250 // Anschlag |
| uint8_t ServoPitchRefresh; // |
| uint8_t LoopThrustLimit; // Wert: 0-250 max. Gas während Looping |
| uint8_t LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| uint8_t LoopHysteresis; // Wert: 0-250 Hysterese für Stickausschlag |
| uint8_t Yaw_PosFeedback; // Wert: 0-250 Faktor, mit dem Yaw die Achsen Roll und Pitch koppelt (PitchRollMitkopplung) |
| uint8_t Yaw_NegFeedback; // Wert: 0-250 Faktor, mit dem Yaw die Achsen Roll und Pitch Gegenkoppelt (PitchRollGegenkopplung) |
| uint8_t AngleTurnOverPitch; // Wert: 0-250 180°-Punkt |
| uint8_t AngleTurnOverRoll; // Wert: 0-250 180°-Punkt |
| uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
| uint8_t DriftComp; |
| uint8_t DynamicStability; |
| uint8_t UserParam5; // Wert : 0-250 |
| uint8_t UserParam6; // Wert : 0-250 |
| uint8_t UserParam7; // Wert : 0-250 |
| uint8_t UserParam8; // Wert : 0-250 |
| uint8_t LoopConfig; // see upper defines for bitcoding |
| uint8_t ServoPitchCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| uint8_t Reserved[4]; |
| int8_t Name[12]; |
| } paramset_t; |
| #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
| extern paramset_t ParamSet; |
| extern void ParamSet_Init(void); |
| extern void ParamSet_ReadFromEEProm(uint8_t setnumber); |
| extern void ParamSet_WriteToEEProm(uint8_t setnumber); |
| extern uint8_t GetActiveParamSet(void); |
| extern void SetActiveParamSet(uint8_t setnumber); |
| extern uint8_t GetParamByte(uint8_t param_id); |
| extern void SetParamByte(uint8_t param_id, uint8_t value); |
| extern uint16_t GetParamWord(uint8_t param_id); |
| extern void SetParamWord(uint8_t param_id, uint16_t value); |
| #endif //_EEPROM_H |
| /branches/V0.69k Code Redesign killagreg/fc.c |
|---|
| 6,14 → 6,14 |
| // + 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. |
| // + 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, |
| // + 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 |
| 24,21 → 24,21 |
| // + 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 |
| // + 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, |
| // + 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 |
| // + * 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 |
| // + 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 |
| // + * 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 |
| 49,1187 → 49,1385 |
| // + 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. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include "main.h" |
| #include "eeprom.c" |
| #include "eeprom.h" |
| #include "timer0.h" |
| #include "_Settings.h" |
| #include "analog.h" |
| #include "fc.h" |
| #include "uart.h" |
| #include "rc.h" |
| #include "twimaster.h" |
| #include "timer2.h" |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #include "gps.h" |
| #endif |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| #include "mk3mag.h" |
| #endif |
| #include "led.h" |
| unsigned char h,m,s; |
| volatile unsigned int I2CTimeout = 100; |
| volatile int MesswertNick,MesswertRoll,MesswertGier; |
| volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| volatile uint16_t I2CTimeout = 100; |
| // gyro readings |
| volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
| // gyro neutral readings |
| volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
| volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
| // mean accelerations |
| volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
| // neutral acceleration readings |
| volatile int16_t NeutralAccX=0, NeutralAccY=0; |
| volatile float NeutralAccZ = 0; |
| unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| long IntegralNick = 0,IntegralNick2 = 0; |
| long IntegralRoll = 0,IntegralRoll2 = 0; |
| long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
| long Integral_Gier = 0; |
| long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
| volatile long Mess_Integral_Hoch = 0; |
| volatile int KompassValue = 0; |
| volatile int KompassStartwert = 0; |
| volatile int KompassRichtung = 0; |
| unsigned int KompassSignalSchlecht = 500; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char Notlandung = 0; |
| unsigned char HoehenReglerAktiv = 0; |
| unsigned char TrichterFlug = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| long ErsatzKompass; |
| int ErsatzKompassInGrad; // Kompasswert in Grad |
| int GierGyroFehler = 0; |
| float GyroFaktor; |
| float IntegralFaktor; |
| 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; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| char MotorenEin = 0; |
| int HoehenWert = 0; |
| int SollHoehe = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| float Ki = FAKTOR_I; |
| unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| 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 = 150; // 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_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 0; |
| unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| struct mk_param_struct EE_Parameter; |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| unsigned int modell_fliegt = 0; |
| // attitude gyro integrals |
| volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
| volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
| volatile int32_t IntegralYaw = 0; |
| volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
| volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
| volatile int32_t Reading_IntegralGyroYaw = 0; |
| volatile int32_t MeanIntegralPitch; |
| volatile int32_t MeanIntegralRoll; |
| void Piep(unsigned char Anzahl) |
| // attitude acceleration integrals |
| volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
| volatile int32_t Reading_Integral_Top = 0; |
| // compass course |
| volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
| volatile int16_t CompassCourse = -1; |
| volatile int16_t CompassOffCourse = 0; |
| volatile uint8_t CompassCalState = 0; |
| uint8_t FunnelCourse = 0; |
| uint16_t BadCompassHeading = 500; |
| int32_t YawGyroHeading; |
| int16_t YawGyroDrift; |
| int16_t NaviAccPitch = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
| // flags |
| uint8_t MotorsOn = 0; |
| uint8_t EmergencyLanding = 0; |
| uint16_t Model_Is_Flying = 0; |
| int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
| float Gyro_P_Factor; |
| float Gyro_I_Factor; |
| volatile int16_t DiffPitch, DiffRoll; |
| int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| // setpoints for motors |
| volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; |
| // stick values derived by rc channels readings |
| int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
| int16_t GPS_Pitch = 0, GPS_Roll = 0; |
| int16_t MaxStickPitch = 0, MaxStickRoll = 0; |
| // stick values derived by uart inputs |
| int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
| int16_t ReadingHeight = 0; |
| int16_t SetPointHeight = 0; |
| int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
| float Ki = FACTOR_I; |
| uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
| uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
| fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100}; |
| /************************************************************************/ |
| /* Creates numbeeps beeps at the speaker */ |
| /************************************************************************/ |
| void Beep(uint8_t numbeeps) |
| { |
| while(Anzahl--) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| beeptime = 100; |
| Delay_ms(250); |
| } |
| while(numbeeps--) |
| { |
| if(MotorsOn) return; //auf keinen Fall im Flug! |
| BeepTime = 100; // 0.1 second |
| Delay_ms(250); // blocks 250 ms as pause to next beep, |
| // this will block the flight control loop, |
| // therefore do not use this funktion if motors are running |
| } |
| } |
| //############################################################################ |
| // Nullwerte ermitteln |
| /************************************************************************/ |
| /* Neutral Readings */ |
| /************************************************************************/ |
| void SetNeutral(void) |
| //############################################################################ |
| { |
| NeutralAccX = 0; |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsGegenKopplung1 = 0; |
| CalibrierMittelwert(); |
| AdNeutralPitch = 0; |
| AdNeutralRoll = 0; |
| AdNeutralYaw = 0; |
| FCParam.Yaw_PosFeedback = 0; |
| FCParam.Yaw_NegFeedback = 0; |
| CalibMean(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| AdNeutralNick= AdWertNick; |
| AdNeutralRoll= AdWertRoll; |
| AdNeutralGier= AdWertGier; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| CalibMean(); |
| if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
| { |
| NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| NeutralAccZ = Aktuell_az; |
| if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
| } |
| else |
| AdNeutralPitch = AdValueGyrPitch; |
| AdNeutralRoll = AdValueGyrRoll; |
| AdNeutralYaw = AdValueGyrYaw; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralPitch = AdNeutralPitch; |
| if(GetParamWord(PID_ACC_PITCH) > 1023) |
| { |
| NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
| NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
| NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
| NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
| NeutralAccZ = Current_AccZ; |
| } |
| 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; |
| GPS_Neutral(); |
| beeptime = 50; |
| Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
| ExternHoehenValue = 0; |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| GierGyroFehler = 0; |
| SendVersionToNavi = 1; |
| else |
| { |
| NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
| NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
| NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
| } |
| Reading_IntegralGyroPitch = 0; |
| Reading_IntegralGyroPitch2 = 0; |
| Reading_IntegralGyroRoll = 0; |
| Reading_IntegralGyroRoll2 = 0; |
| Reading_IntegralGyroYaw = 0; |
| Reading_GyroPitch = 0; |
| Reading_GyroRoll = 0; |
| Reading_GyroYaw = 0; |
| StartAirPressure = AirPressure; |
| HeightD = 0; |
| Reading_Integral_Top = 0; |
| CompassCourse = CompassHeading; |
| BeepTime = 50; |
| TurnOver180Pitch = ((int32_t) ParamSet.AngleTurnOverPitch * 2500L) +15000L; |
| TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
| ExternHeightValue = 0; |
| GPS_Pitch = 0; |
| GPS_Roll = 0; |
| YawGyroHeading = CompassHeading * YAW_GYRO_DEG_FACTOR; |
| YawGyroDrift = 0; |
| } |
| //############################################################################ |
| // Bearbeitet die Messwerte |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| static signed long tmpl,tmpl2; |
| MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| MesswertRoll = (signed int) AdWertRoll - AdNeutralRoll; |
| MesswertNick = (signed int) AdWertNick - AdNeutralNick; |
| /************************************************************************/ |
| /* Averaging Measurement Readings */ |
| /************************************************************************/ |
| void Mean(void) |
| { |
| static int32_t tmpl,tmpl2; |
| //DebugOut.Analog[26] = MesswertNick; |
| DebugOut.Analog[28] = MesswertRoll; |
| // Get offset corrected gyro readings (~ to angular velocity) |
| Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
| Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
| Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 2L; |
| Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 2L; |
| Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdWertAccHoch)) / 2L; |
| IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
| NaviAccNick += AdWertAccNick; |
| NaviAccRoll += AdWertAccRoll; |
| // Acceleration Sensor |
| // sliding average sensor readings |
| Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
| Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
| Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
| // sum sensor readings for later averaging |
| IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
| IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
| NaviAccPitch += AdValueAccPitch; |
| NaviAccRoll += AdValueAccRoll; |
| NaviCntAcc++; |
| IntegralAccZ += Aktuell_az - NeutralAccZ; |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| ErsatzKompass += MesswertGier; |
| Mess_Integral_Gier += MesswertGier; |
| Mess_Integral_Gier2 += MesswertGier; |
| if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
| if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
| // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| { |
| tmpl = (MesswertGier * Mess_IntegralNick) / 2048L; |
| tmpl *= Parameter_AchsKopplung1; //125 |
| tmpl /= 4096L; |
| tmpl2 = (MesswertGier * Mess_IntegralRoll) / 2048L; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 4096L; |
| if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| } |
| else tmpl = tmpl2 = 0; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertRoll += tmpl; |
| MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
| Mess_IntegralRoll2 += MesswertRoll; |
| Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
| if(Mess_IntegralRoll > Umschlag180Roll) |
| { |
| Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(Mess_IntegralRoll <-Umschlag180Roll) |
| { |
| Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(AdWertRoll < 15) MesswertRoll = -1000; |
| if(AdWertRoll < 7) MesswertRoll = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdWertRoll > 1010) MesswertRoll = +1000; |
| if(AdWertRoll > 1017) MesswertRoll = +2000; |
| } |
| else |
| { |
| if(AdWertRoll > 2020) MesswertRoll = +1000; |
| if(AdWertRoll > 2034) MesswertRoll = +2000; |
| } |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertNick -= tmpl2; |
| MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
| Mess_IntegralNick2 += MesswertNick; |
| Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
| if(Mess_IntegralNick > Umschlag180Nick) |
| { |
| Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(Mess_IntegralNick <-Umschlag180Nick) |
| { |
| Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(AdWertNick < 15) MesswertNick = -1000; |
| if(AdWertNick < 7) MesswertNick = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdWertNick > 1010) MesswertNick = +1000; |
| if(AdWertNick > 1017) MesswertNick = +2000; |
| } |
| else |
| { |
| if(AdWertNick > 2020) MesswertNick = +1000; |
| if(AdWertNick > 2034) MesswertNick = +2000; |
| } |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ANALOG_ON; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Yaw |
| // calculate yaw gyro integral (~ to rotation angle) |
| Reading_IntegralGyroYaw += Reading_GyroYaw; |
| YawGyroHeading += Reading_GyroYaw; |
| if(YawGyroHeading >= (360L * YAW_GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * YAW_GYRO_DEG_FACTOR; // 360° Wrap |
| if(YawGyroHeading < 0) YawGyroHeading += 360L * YAW_GYRO_DEG_FACTOR; |
| Integral_Gier = Mess_Integral_Gier; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| { |
| 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; |
| // Coupling fraction |
| if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
| { |
| tmpl = (Reading_GyroYaw * Reading_IntegralGyroPitch) / 2048L; |
| tmpl *= FCParam.Yaw_PosFeedback; |
| tmpl /= 4096L; |
| tmpl2 = ( Reading_GyroYaw * Reading_IntegralGyroRoll) / 2048L; |
| tmpl2 *= FCParam.Yaw_PosFeedback; |
| tmpl2 /= 4096L; |
| if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
| } |
| else tmpl = tmpl2 = 0; |
| // Roll |
| Reading_GyroRoll += tmpl; |
| Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
| Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
| Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
| if(Reading_IntegralGyroRoll > TurnOver180Roll) |
| { |
| Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| } |
| if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
| { |
| Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| } |
| if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
| if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
| if(BoardRelease == 10) |
| { |
| if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
| if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
| } |
| else |
| { |
| if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
| if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
| } |
| // Pitch |
| Reading_GyroPitch -= tmpl2; |
| Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
| Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
| Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
| if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
| { |
| Reading_IntegralGyroPitch = -(TurnOver180Pitch - 25000L); |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| } |
| if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
| { |
| Reading_IntegralGyroPitch = (TurnOver180Pitch - 25000L); |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| } |
| if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
| if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
| if(BoardRelease == 10) |
| { |
| if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
| if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
| } |
| else |
| { |
| if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
| if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
| } |
| // start ADC again to capture measurement values for the next loop |
| ADC_Enable(); |
| IntegralYaw = Reading_IntegralGyroYaw; |
| IntegralPitch = Reading_IntegralGyroPitch; |
| IntegralRoll = Reading_IntegralGyroRoll; |
| IntegralPitch2 = Reading_IntegralGyroPitch2; |
| IntegralRoll2 = Reading_IntegralGyroRoll2; |
| if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
| { |
| if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
| else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
| if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
| else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
| } |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| MesswertNick = AdWertNick; |
| MesswertRoll = AdWertRoll; |
| MesswertGier = AdWertGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
| Mittelwert_AccHoch = (long)AdWertAccHoch; |
| // 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; |
| /************************************************************************/ |
| /* Averaging Measurement Readings for Calibration */ |
| /************************************************************************/ |
| void CalibMean(void) |
| { |
| // stop ADC to avoid changing values during calculation |
| ADC_Disable(); |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| Reading_GyroPitch = AdValueGyrPitch; |
| Reading_GyroRoll = AdValueGyrRoll; |
| Reading_GyroYaw = AdValueGyrYaw; |
| Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
| Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
| Mean_AccTop = (int32_t)AdValueAccTop; |
| // start ADC (enables internal trigger so that the ISR in analog.c |
| // updates the readings once) |
| ADC_Enable(); |
| TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| /************************************************************************/ |
| /* Transmit Motor Data via I2C */ |
| /************************************************************************/ |
| 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]; |
| } |
| { |
| if(MOTOR_OFF || !MotorsOn) |
| { |
| Motor_Rear = 0; |
| Motor_Front = 0; |
| Motor_Right = 0; |
| Motor_Left = 0; |
| if(MotorTest[0]) Motor_Front = MotorTest[0]; |
| if(MotorTest[1]) Motor_Rear = MotorTest[1]; |
| if(MotorTest[2]) Motor_Left = MotorTest[2]; |
| if(MotorTest[3]) Motor_Right = MotorTest[3]; |
| } |
| DebugOut.Analog[12] = Motor_Vorne; |
| DebugOut.Analog[13] = Motor_Hinten; |
| DebugOut.Analog[14] = Motor_Links; |
| DebugOut.Analog[15] = Motor_Rechts; |
| DebugOut.Analog[12] = Motor_Front; |
| DebugOut.Analog[13] = Motor_Rear; |
| DebugOut.Analog[14] = Motor_Left; |
| DebugOut.Analog[15] = Motor_Right; |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| i2c_start(); |
| I2C_Start(); |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| /************************************************************************/ |
| /* Maps the parameter to poti values */ |
| /************************************************************************/ |
| void ParameterMapping(void) |
| { |
| if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
| // else the last updated values are used |
| { |
| //update poti values by rc-signals |
| #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(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
| CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
| CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
| CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
| CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
| CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
| CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
| CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
| CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
| CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
| CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
| CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
| CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
| CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
| CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
| CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
| CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
| CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
| CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
| CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
| CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
| Ki = (float) FCParam.I_Factor * FACTOR_I; |
| } |
| } |
| #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_UserParam5,EE_Parameter.UserParam5,0,255); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
| CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
| Ki = (float) Parameter_I_Faktor * 0.0001; |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| void SetCompassCalState(void) |
| { |
| static uint8_t stick = 1; |
| // if pitch is centered or top set stick to zero |
| if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -20) stick = 0; |
| // if pitch is down trigger to next cal state |
| if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) && !stick) |
| { |
| stick = 1; |
| CompassCalState++; |
| if(CompassCalState < 5) Beep(CompassCalState); |
| else BeepTime = 1000; |
| } |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| /************************************************************************/ |
| /* MotorControl */ |
| /************************************************************************/ |
| void MotorControl(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 long IntegralFehlerNick = 0; |
| static long IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static int hoehenregler = 0; |
| static char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| static long ausgleichNick, ausgleichRoll; |
| Mittelwert(); |
| int16_t MotorValue, pd_result, h, tmp_int; |
| int16_t YawMixFraction, ThrustMixFraction; |
| static int32_t SumPitch = 0, SumRoll = 0; |
| static int32_t SetPointYaw = 0; |
| static int32_t IntegralErrorPitch = 0; |
| static int32_t IntegralErrorRoll = 0; |
| static uint16_t RcLostTimer; |
| static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
| static uint8_t HeightControlActive = 0; |
| static int16_t HeightControlThrust = 0; |
| static int8_t TimerDebugOut = 0; |
| static uint16_t UpdateCompassCourse = 0; |
| static int32_t CorrectionPitch, CorrectionRoll; |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = StickGas; |
| if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Empfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(!PcZugriff) |
| { |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| } |
| } |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| Notlandung = 0; |
| } |
| ROT_ON; |
| if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| Notlandung = 1; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 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 < 256)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| if(modell_fliegt == 250) NeueKompassRichtungMerken = 1; |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| 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) |
| { |
| 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; |
| 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 |
| } |
| // else |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 20 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| { |
| WinkelOut.CalcState = 1; |
| beeptime = 1000; |
| } |
| else |
| { |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| SetNeutral(); |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| } |
| else |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| SetNeutral(); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| { |
| // 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; |
| } |
| } |
| Mean(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || Notlandung) |
| { |
| int tmp_int; |
| static int stick_nick,stick_roll; |
| ParameterZuordnung(); |
| stick_nick = (stick_nick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| StickNick = stick_nick - (GPS_Nick + GPS_Nick2); |
| // StickNick = (StickNick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // determine thrust value |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ThrustMixFraction = StickThrust; |
| if(ThrustMixFraction < ParamSet.Trust_Min + 10) ThrustMixFraction = ParamSet.Trust_Min + 10; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // RC-signal is bad |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
| { |
| if(!PcAccess) // if also no PC-Access via UART |
| { |
| if(BeepModulation == 0xFFFF) |
| { |
| BeepTime = 15000; // 1.5 seconds |
| BeepModulation = 0x0C00; |
| } |
| } |
| if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
| else // rc lost countdown finished |
| { |
| MotorsOn = 0; // stop all motors |
| EmergencyLanding = 0; // emergency landing is over |
| } |
| ROT_ON; // set red led |
| if(Model_Is_Flying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
| EmergencyLanding = 1; // enable emergency landing |
| // set neutral rc inputs |
| PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
| PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
| PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| } |
| else MotorsOn = 0; // switch of all motors |
| } // eof RC_Quality < 120 |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // RC-signal is good |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(RC_Quality > 140) |
| { |
| EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
| // reset emergency timer |
| RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
| if(ThrustMixFraction > 40) |
| { |
| if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
| } |
| if(Model_Is_Flying < 256) |
| { |
| SumPitch = 0; |
| SumRoll = 0; |
| StickYaw = 0; |
| if(Model_Is_Flying == 250) UpdateCompassCourse = 1; |
| } |
| stick_roll = (stick_roll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| StickRoll = stick_roll - (GPS_Roll + GPS_Roll2); |
| if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
| //PPM24-Extension |
| if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| //limit poti values |
| 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; |
| //PPM24-Extension |
| if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| // StickRoll = (StickRoll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| // if motors are off and the thrust stick is in the upper position |
| if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
| { |
| // and if the yaw stick is in the leftmost position |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // calibrate the neutral readings of all attitude sensors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| { |
| // thrust/yaw joystick is top left |
| // _________ |
| // |x | |
| // | | |
| // | | |
| // | | |
| // | | |
| // ¯¯¯¯¯¯¯¯¯ |
| if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_neutral = 0; |
| GRN_OFF; |
| Model_Is_Flying = 0; |
| // check roll/pitch stick position |
| // if pitch stick is top or roll stick is left or right --> change parameter setting |
| // according to roll/pitch stick position |
| if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
| { |
| uint8_t setting = 1; // default |
| // pitch/roll joystick |
| // _________ |
| // |2 3 4| |
| // | | |
| // |1 5| |
| // | | |
| // | | |
| // ¯¯¯¯¯¯¯¯¯ |
| // roll stick leftmost and pitch stick centered --> setting 1 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
| // roll stick leftmost and pitch stick topmost --> setting 2 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
| // roll stick centered an pitch stick topmost --> setting 3 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
| // roll stick rightmost and pitch stick topmost --> setting 4 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
| // roll stick rightmost and pitch stick centered --> setting 5 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
| // update active parameter set in eeprom |
| SetActiveParamSet(setting); |
| ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| SetNeutral(); |
| Beep(GetActiveParamSet()); |
| } |
| else |
| { |
| if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
| { |
| // if roll stick is centered and pitch stick is down |
| if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 20 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -70) |
| { |
| // pitch/roll joystick |
| // _________ |
| // | | |
| // | | |
| // | | |
| // | | |
| // | x | |
| // ¯¯¯¯¯¯¯¯¯ |
| // enable calibration state of compass |
| CompassCalState = 1; |
| BeepTime = 1000; |
| } |
| else // pitch and roll are centered |
| { |
| ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| SetNeutral(); |
| Beep(GetActiveParamSet()); |
| } |
| } |
| else // pitch and roll are centered |
| { |
| ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| SetNeutral(); |
| Beep(GetActiveParamSet()); |
| } |
| } |
| } |
| } |
| // and if the yaw stick is in the rightmost position |
| // save the ACC neutral setting to eeprom |
| else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
| { |
| if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_neutral = 0; |
| GRN_OFF; |
| SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
| Model_Is_Flying = 0; |
| SetNeutral(); |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
| SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
| SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
| Beep(GetActiveParamSet()); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // thrust stick is down |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // and yaw stick is rightmost --> start motors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
| { |
| if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_startmotors = 200; // do not repeat if once executed |
| Model_Is_Flying = 1; |
| MotorsOn = 1; |
| SetPointYaw = 0; |
| Reading_IntegralGyroYaw = 0; |
| Reading_IntegralGyroPitch = 0; |
| Reading_IntegralGyroRoll = 0; |
| Reading_IntegralGyroPitch2 = IntegralPitch; |
| Reading_IntegralGyroRoll2 = IntegralRoll; |
| SumPitch = 0; |
| SumRoll = 0; |
| #ifdef USE_KILLAGREG |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| GPS_SetHomePosition(); |
| } |
| #endif |
| } |
| } |
| else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // and yaw stick is leftmost --> stop motors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| { |
| if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_stopmotors = 200; // do not repeat if once executed |
| Model_Is_Flying = 0; |
| MotorsOn = 0; |
| #ifdef USE_KILLAGREG |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| GPS_ClearHomePosition(); |
| } |
| #endif |
| } |
| } |
| else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
| } |
| // remapping of paameters only if the signal rc-sigbnal conditions are good |
| } // eof RC_Quality > 150 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // new values from RC |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
| { |
| int tmp_int; |
| ParameterMapping(); // remapping params (online poti replacement) |
| // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
| StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
| StickPitch -= (GPS_Pitch); |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
| StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
| StickRoll -= (GPS_Roll); |
| /* if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]) > MaxStickNick) |
| MaxStickNick = abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]); else MaxStickNick--; |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > MaxStickRoll) |
| MaxStickRoll = abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); else MaxStickRoll--; |
| */ |
| GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / (256.0/STICK_GAIN); |
| IntegralFaktor = ((float) Parameter_Gyro_I) / (44000 / STICK_GAIN); |
| // direct mapping of yaw and thrust |
| StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
| StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
| // update gyro control loop factors |
| Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / (256.0 / STICK_GAIN); |
| Gyro_I_Factor = ((float) FCParam.Gyro_I) / (44000 / STICK_GAIN); |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Digitale Steuerung per DubWise |
| // Digital Control via DubWise |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define KEY_VALUE (Parameter_UserParam8 * 4) //(Poti3 * 8) |
| if(DubWiseKeys[1]) beeptime = 10; |
| if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
| if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
| if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
| if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
| if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
| if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
| #define KEY_VALUE (FCParam.UserParam8 * 4) // step width |
| if(DubWiseKeys[1]) BeepTime = 10; |
| if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; |
| else if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; |
| else tmp_int = 0; |
| ExternStickPitch = (ExternStickPitch * 7 + tmp_int) / 8; |
| if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; |
| else if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; |
| else tmp_int = 0; |
| ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
| StickNick += (STICK_GAIN * ExternStickNick) / 8; |
| StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
| StickGier += STICK_GAIN * ExternStickGier; |
| if(DubWiseKeys[0] & 8) ExternStickYaw = 50;else |
| if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
| if(DubWiseKeys[0] & 2) ExternHeightValue++; |
| if(DubWiseKeys[0] & 16) ExternHeightValue--; |
| StickPitch += (STICK_GAIN * ExternStickPitch) / 8; |
| StickRoll += (STICK_GAIN * ExternStickRoll) / 8; |
| StickYaw += (STICK_GAIN * ExternStickYaw); |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Analoge Steuerung per Seriell |
| //+ Analog control via serial communication |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ExternControl.Config & 0x01 && Parameter_UserParam8 > 128) |
| { |
| StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
| StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
| StickGier += ExternControl.Gier; |
| ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
| if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
| } |
| if(StickGas < 0) StickGas = 0; |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(GyroFaktor < 0) GyroFaktor = 0; |
| if(IntegralFaktor < 0) IntegralFaktor = 0; |
| if(ExternControl.Config & 0x01 && FCParam.UserParam8 > 128) |
| { |
| StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
| StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
| StickYaw += ExternControl.Yaw; |
| ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
| if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
| } |
| if(StickThrust < 0) StickThrust = 0; |
| if(abs(StickNick/STICK_GAIN) > MaxStickNick) MaxStickNick = abs(StickNick)/STICK_GAIN; else MaxStickNick--; |
| if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; else MaxStickRoll--; |
| if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
| // disable I part of gyro control feedback |
| if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
| // avoid negative scaling factors |
| if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
| if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // update max stick positions for pitch and roll |
| if(abs(StickPitch / STICK_GAIN) > MaxStickPitch) MaxStickPitch = abs(StickPitch)/STICK_GAIN; |
| else MaxStickPitch--; |
| if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| else MaxStickRoll--; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| else |
| { |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| else |
| { |
| if(Looping_Rechts) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| else |
| { |
| if(Looping_Oben) // Hysterese |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| else |
| { |
| if(Looping_Unten) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
| } |
| } |
| if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
| else |
| { |
| if(Looping_Left) // Hysteresis |
| { |
| if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
| } |
| } |
| if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
| else |
| { |
| if(Looping_Right) // Hysteresis |
| { |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
| } |
| } |
| if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| } // Ende neue Funken-Werte |
| if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
| else |
| { |
| if(Looping_Top) // Hysteresis |
| { |
| if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
| } |
| } |
| if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
| else |
| { |
| if(Looping_Down) // Hysteresis |
| { |
| if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
| } |
| } |
| if(Looping_Roll) beeptime = 100; |
| if(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| } |
| if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
| } // End of new RC-Values or Emergency Landing |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = (float) 100 / (256.0 / STICK_GAIN); |
| IntegralFaktor = (float) 120 / (44000 / STICK_GAIN); |
| Looping_Roll = 0; |
| Looping_Nick = 0; |
| } |
| if(Looping_Roll) BeepTime = 100; |
| if(Looping_Roll || Looping_Pitch) |
| { |
| if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ABGLEICH_ANZAHL 256L |
| MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| MittelIntegralRoll += IntegralRoll; |
| MittelIntegralNick2 += IntegralNick2; |
| MittelIntegralRoll2 += IntegralRoll2; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ LED Control on J16/J17 |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| LED1_Time = FCParam.UserParam7; |
| LED2_Time = FCParam.UserParam8; |
| LED_Update(); |
| if(Looping_Nick || Looping_Roll) |
| { |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| ZaehlMessungen = 0; |
| LageKorrekturNick = 0; |
| LageKorrekturRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // in case of emergency landing |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // set all inputs to save values |
| if(EmergencyLanding) |
| { |
| StickYaw = 0; |
| StickPitch = 0; |
| StickRoll = 0; |
| Gyro_P_Factor = (float) 100 / (256.0 / STICK_GAIN); |
| Gyro_I_Factor = (float) 120 / (44000 / STICK_GAIN); |
| Looping_Roll = 0; |
| Looping_Pitch = 0; |
| MaxStickPitch = 0; |
| MaxStickRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll) |
| { |
| long tmp_long, tmp_long2; |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long /= 16; |
| tmp_long2 /= 16; |
| if((MaxStickNick > 32) || (MaxStickRoll > 32)) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Trim Gyro-Integrals to ACC-Signals |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define AUSGLEICH 32 |
| 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; |
| #define BALANCE_NUMBER 256L |
| // sum for averaging |
| MeanIntegralPitch += IntegralPitch; |
| MeanIntegralRoll += IntegralRoll; |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Looping_Pitch || Looping_Roll) // if looping in any direction |
| { |
| // reset averaging for acc and gyro integral as well as gyro integral acc correction |
| MeasurementCounter = 0; |
| if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| { |
| static int cnt = 0; |
| static char last_n_p,last_n_n,last_r_p,last_r_n; |
| static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
| if(!Looping_Nick && !Looping_Roll && !TrichterFlug) |
| { |
| MittelIntegralNick /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll /= ABGLEICH_ANZAHL; |
| IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
| IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
| IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
| #define MAX_I 0//(Poti2/10) |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
| ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
| ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| IntegralAccPitch = 0; |
| IntegralAccRoll = 0; |
| LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
| LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| MeanIntegralPitch = 0; |
| MeanIntegralRoll = 0; |
| if((MaxStickNick > 32) || (MaxStickRoll > 32) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) |
| { |
| LageKorrekturNick /= 2; |
| LageKorrekturRoll /= 2; |
| } |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
| tmp_long = IntegralNick2 - IntegralNick; |
| tmp_long2 = IntegralRoll2 - IntegralRoll; |
| //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| AttitudeCorrectionPitch = 0; |
| AttitudeCorrectionRoll = 0; |
| } |
| IntegralFehlerNick = tmp_long; |
| IntegralFehlerRoll = tmp_long2; |
| Mess_IntegralNick2 -= IntegralFehlerNick; |
| Mess_IntegralRoll2 -= IntegralFehlerRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
| { |
| int32_t tmp_long, tmp_long2; |
| // determine the deviation of gyro integral from averaged acceleration sensor |
| tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFactor - (int32_t)Mean_AccPitch); |
| tmp_long /= 16; |
| tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
| tmp_long2 /= 16; |
| // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
| // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
| if(GierGyroFehler > ABGLEICH_ANZAHL/2) AdNeutralGier++; |
| if(GierGyroFehler <-ABGLEICH_ANZAHL/2) AdNeutralGier--; |
| if((MaxStickPitch > 32) || (MaxStickRoll > 32)) // reduce effect during stick commands |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| #define BALANCE 32 |
| // limit correction effect |
| if(tmp_long > BALANCE) tmp_long = BALANCE; |
| if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
| if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
| if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
| // correct current readings |
| Reading_IntegralGyroPitch -= tmp_long; |
| Reading_IntegralGyroRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // MeasurementCounter is incremented in the isr of analog.c |
| if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
| { |
| static int16_t cnt = 0; |
| static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
| static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
| GierGyroFehler = 0; |
| // if not lopping in any direction (this should be alwais the case, |
| // because the Measurement counter is reset to 0 if looping in any direction is active.) |
| if(!Looping_Pitch && !Looping_Roll && !FunnelCourse) |
| { |
| // Calculate mean value of the gyro integrals |
| MeanIntegralPitch /= BALANCE_NUMBER; |
| MeanIntegralRoll /= BALANCE_NUMBER; |
| // Calculate mean of the acceleration values |
| IntegralAccPitch = (ParamSet.GyroAccFactor * IntegralAccPitch) / BALANCE_NUMBER; |
| IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER; |
| /*DebugOut.Analog[17] = IntegralAccNick / 26; |
| DebugOut.Analog[18] = IntegralAccRoll / 26; |
| DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
| DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
| // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
| IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
| CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
| AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
| IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
| CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
| AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
| if((MaxStickPitch > 32) || (MaxStickRoll > 32) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
| { |
| AttitudeCorrectionPitch /= 2; |
| AttitudeCorrectionRoll /= 2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
| IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
| Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
| // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
| IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
| Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
| if(YawGyroDrift > BALANCE_NUMBER/2) AdNeutralYaw++; |
| if(YawGyroDrift < -BALANCE_NUMBER/2) AdNeutralYaw--; |
| YawGyroDrift = 0; |
| /* |
| DebugOut.Analog[17] = IntegralAccPitch / 26; |
| DebugOut.Analog[18] = IntegralAccRoll / 26; |
| DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
| DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
| DebugOut.Analog[21] = MeanIntegralPitch / 26; |
| DebugOut.Analog[22] = MeanIntegralRoll / 26; |
| //DebugOut.Analog[28] = CorrectionPitch; |
| DebugOut.Analog[29] = CorrectionRoll; |
| DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
| */ |
| //DebugOut.Analog[21] = MittelIntegralNick / 26; |
| //MittelIntegralRoll = MittelIntegralRoll; |
| //DebugOut.Analog[28] = ausgleichNick; |
| #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
| #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
| #define MOVEMENT_LIMIT 20000 |
| // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| CorrectionPitch = 0; |
| if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
| { |
| if(IntegralErrorPitch > ERROR_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
| CorrectionPitch = IntegralErrorPitch / 8; |
| if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
| AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
| } |
| else last_n_p = 1; |
| } |
| else last_n_p = 0; |
| if(IntegralErrorPitch < -ERROR_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
| CorrectionPitch = IntegralErrorPitch / 8; |
| if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
| AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
| } |
| else last_n_n = 1; |
| } |
| else last_n_n = 0; |
| } |
| else |
| { |
| cnt = 0; |
| BadCompassHeading = 500; |
| } |
| if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| // correct Gyro Offsets |
| if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
| if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| CorrectionRoll = 0; |
| if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
| { |
| if(IntegralErrorRoll > ERROR_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
| CorrectionRoll = IntegralErrorRoll / 8; |
| if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
| AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
| } |
| else last_r_p = 1; |
| } |
| else last_r_p = 0; |
| if(IntegralErrorRoll < -ERROR_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
| CorrectionRoll = IntegralErrorRoll / 8; |
| if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
| AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
| } |
| else last_r_n = 1; |
| } |
| else last_r_n = 0; |
| } |
| else |
| { |
| cnt = 0; |
| BadCompassHeading = 500; |
| } |
| // correct Gyro Offsets |
| if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
| /* |
| DebugOut.Analog[29] = ausgleichRoll; |
| DebugOut.Analog[30] = LageKorrekturRoll * 10; |
| DebugOut.Analog[27] = CorrectionRoll; |
| DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
| DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| */ |
| } |
| else // looping is active |
| { |
| AttitudeCorrectionRoll = 0; |
| AttitudeCorrectionPitch = 0; |
| FunnelCourse = 0; |
| } |
| #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
| #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
| #define BEWEGUNGS_LIMIT 20000 |
| // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerNick > FEHLER_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick > 5000) ausgleichNick = 5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_p = 1; |
| } else last_n_p = 0; |
| if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick < -5000) ausgleichNick = -5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_n = 1; |
| } else last_n_n = 0; |
| } |
| else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 500; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
| // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction |
| if(!Gyro_I_Factor) |
| { |
| AttitudeCorrectionRoll = 0; |
| AttitudeCorrectionPitch = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MeanIntegralPitch_old = MeanIntegralPitch; |
| MeanIntegralRoll_old = MeanIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // reset variables used for averaging |
| IntegralAccPitch = 0; |
| IntegralAccRoll = 0; |
| MeanIntegralPitch = 0; |
| MeanIntegralRoll = 0; |
| MeasurementCounter = 0; |
| } // end of averaging |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| ausgleichRoll = 0; |
| if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_p = 1; |
| } else last_r_p = 0; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_n = 1; |
| } else last_r_n = 0; |
| } else |
| { |
| cnt = 0; |
| KompassSignalSchlecht = 500; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Yawing |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickYaw) > 15 ) // yaw stick is activated |
| { |
| if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
| { |
| UpdateCompassCourse = 1; |
| CompassCourse = YawGyroHeading; |
| BadCompassHeading = 250; |
| } |
| } |
| // exponential stick sensitivity in yawring rate |
| tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
| tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
| SetPointYaw = tmp_int; |
| // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw) |
| Reading_IntegralGyroYaw -= tmp_int; |
| // limit the effect |
| if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
| if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
| /*DebugOut.Analog[27] = ausgleichRoll; |
| DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
| DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| */ |
| } |
| else |
| { |
| LageKorrekturRoll = 0; |
| LageKorrekturNick = 0; |
| TrichterFlug = 0; |
| } |
| if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick_Alt = MittelIntegralNick; |
| MittelIntegralRoll_Alt = MittelIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| IntegralAccZ = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| ZaehlMessungen = 0; |
| } |
| //DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Compass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // compass code is used if Compass option is selected |
| if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE)) |
| { |
| int16_t w, v, r,correction, error; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // if(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
| if(abs(StickGier) > 15) // war 35 |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| { |
| NeueKompassRichtungMerken = 1; |
| KompassStartwert = ErsatzKompass; |
| KompassSignalSchlecht = 250; |
| }; |
| } |
| tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //DebugOut.Analog[29] = (MaxStickNick + MaxStickRoll); |
| if(CompassCalState && MotorsOn == 0 ) |
| { |
| SetCompassCalState(); |
| #ifdef USE_KILLAGREG |
| MM3_Calibrate(); |
| #endif |
| } |
| else |
| { |
| #ifdef USE_KILLAGREG |
| static uint8_t updCompass = 0; |
| if (!updCompass--) |
| { |
| updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
| MM3_Heading(); |
| } |
| #endif |
| if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| { |
| int w,v,r,fehler,korrektur; |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| korrektur = w / 8 + 1; |
| if(w < 25 && NeueKompassRichtungMerken && !KompassSignalSchlecht) |
| { |
| beeptime = 200; |
| // KompassStartwert = KompassValue; |
| KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| NeueKompassRichtungMerken = 0; |
| } |
| fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| ErsatzKompass += (fehler * 8) / korrektur; |
| w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if(w > 0) |
| { |
| if(!KompassSignalSchlecht) |
| { |
| GierGyroFehler += fehler; |
| v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| // r = KompassRichtung; |
| v = (r * w) / v; // nach Kompass ausrichten |
| w = 3 * Parameter_KompassWirkung; |
| if(v > w) v = w; // Begrenzen |
| else |
| if(v < -w) v = -w; |
| Mess_Integral_Gier += v; |
| } |
| if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| } |
| else KompassSignalSchlecht = 250; // so lange das Signal taub stellen --> ca. 0,5 sek |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // get maximum attitude angle |
| w = abs(IntegralPitch/512); |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; |
| // update compass course |
| if (w < 25 && UpdateCompassCourse && !BadCompassHeading) |
| { |
| BeepTime = 200; |
| CompassCourse = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
| UpdateCompassCourse = 0; |
| } |
| // calculate the deviation of the yaw gyro heading and the compass heading |
| if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
| else error = ((540 + CompassHeading - (YawGyroHeading / YAW_GYRO_DEG_FACTOR)) % 360) - 180; |
| correction = w / 8 + 1; |
| YawGyroHeading += (error * 8) / correction; |
| w = (w * FCParam.CompassYawEffect) / 64; |
| w = FCParam.CompassYawEffect - w; |
| if(w > 0) |
| { |
| if(BadCompassHeading) |
| { // wait a while |
| BadCompassHeading--; |
| } |
| else |
| { // |
| YawGyroDrift += error; |
| v = 64 + (MaxStickPitch + MaxStickRoll) / 8; |
| // calc course deviation |
| r = ((540 + (YawGyroHeading / YAW_GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
| v = (r * w) / v; // align to compass course |
| // limit yaw rate |
| w = 3 * FCParam.CompassYawEffect; |
| if (v > w) v = w; |
| else if (v < -w) v = -w; |
| Reading_IntegralGyroYaw += v; |
| } |
| } |
| else |
| { // ignore compass at extreme attitudes for a while |
| BadCompassHeading = 250; |
| } |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #ifdef USE_KILLAGREG |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // GPS |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| GPS_I_Factor = FCParam.UserParam2; |
| GPS_P_Factor = FCParam.UserParam5; |
| GPS_D_Factor = FCParam.UserParam6; |
| if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
| else GPS_Main(Poti3); // behavior controlled by Poti3 |
| } |
| else |
| { |
| GPS_Pitch = 0; |
| GPS_Roll = 0; |
| } |
| #endif |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 24; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerDebugOut--) |
| { |
| TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
| DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFactor; |
| DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor; |
| DebugOut.Analog[2] = Mean_AccPitch; |
| DebugOut.Analog[3] = Mean_AccRoll; |
| DebugOut.Analog[4] = Reading_GyroYaw; |
| DebugOut.Analog[5] = ReadingHeight; |
| DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
| DebugOut.Analog[8] = CompassHeading; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = RC_Quality; |
| DebugOut.Analog[11] = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
| DebugOut.Analog[16] = Mean_AccTop; |
| 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; |
| DebugOut.Analog[5] = HoehenWert; |
| DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
| DebugOut.Analog[10] = SenderOkay; |
| DebugOut.Analog[16] = Mittelwert_AccHoch; |
| DebugOut.Analog[20] = ServoValue; |
| //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
| //DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| DebugOut.Analog[20] = ServoValue; |
| DebugOut.Analog[30] = GPS_Nick; |
| DebugOut.Analog[31] = GPS_Roll; |
| DebugOut.Analog[30] = GPS_Pitch; |
| DebugOut.Analog[31] = GPS_Roll; |
| // DebugOut.Analog[19] -= DebugOut.Analog[19]/128; |
| // if(DebugOut.Analog[19] > 0) DebugOut.Analog[19]--; else DebugOut.Analog[19]++; |
| /* DebugOut.Analog[16] = motor_rx[0]; |
| DebugOut.Analog[17] = motor_rx[1]; |
| DebugOut.Analog[18] = motor_rx[2]; |
| DebugOut.Analog[19] = motor_rx[3]; |
| DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
| DebugOut.Analog[20] /= 14; |
| DebugOut.Analog[21] = motor_rx[4]; |
| DebugOut.Analog[22] = motor_rx[5]; |
| DebugOut.Analog[23] = motor_rx[6]; |
| DebugOut.Analog[24] = motor_rx[7]; |
| DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
| /* DebugOut.Analog[16] = motor_rx[0]; |
| DebugOut.Analog[17] = motor_rx[1]; |
| DebugOut.Analog[18] = motor_rx[2]; |
| DebugOut.Analog[19] = motor_rx[3]; |
| DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
| DebugOut.Analog[20] /= 14; |
| DebugOut.Analog[21] = motor_rx[4]; |
| DebugOut.Analog[22] = motor_rx[5]; |
| DebugOut.Analog[23] = motor_rx[6]; |
| DebugOut.Analog[24] = motor_rx[7]; |
| DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
| */ |
| // DebugOut.Analog[9] = MesswertNick; |
| // DebugOut.Analog[9] = SollHoehe; |
| // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| // DebugOut.Analog[11] = KompassStartwert; |
| // DebugOut.Analog[10] = Parameter_Gyro_I; |
| // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| // DebugOut.Analog[9] = KompassRichtung; |
| // DebugOut.Analog[10] = GasMischanteil; |
| // DebugOut.Analog[3] = HoeheD * 32; |
| // DebugOut.Analog[4] = hoehenregler; |
| } |
| DebugOut.Analog[9] = Reading_GyroPitch; |
| DebugOut.Analog[9] = SetPointHeight; |
| DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[10] = FCParam.Gyro_I; |
| DebugOut.Analog[10] = ParamSet.Gyro_I; |
| DebugOut.Analog[9] = CompassOffCourse; |
| DebugOut.Analog[10] = ThrustMixFraction; |
| DebugOut.Analog[3] = HeightD * 32; |
| DebugOut.Analog[4] = HeightControlThrust; |
| */ |
| } |
| if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
| else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
| else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| MesswertGier = MesswertGier * (2 * GyroFaktor) + Integral_Gier * IntegralFaktor / 2; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[21] = MesswertNick; |
| DebugOut.Analog[22] = MesswertRoll; |
| if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
| else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
| if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
| else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
| Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
| // Maximalwerte abfangen |
| #define MAX_SENSOR (4096*STICK_GAIN) |
| 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; |
| DebugOut.Analog[21] = Reading_GyroPitch; |
| DebugOut.Analog[22] = Reading_GyroRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //OCR0B = 180 - (Poti1 + 120) / 4; |
| //DruckOffsetSetting = OCR0B; |
| GasMischanteil *= STICK_GAIN; |
| // limit control feedback |
| #define MAX_SENSOR (4096 * STICK_GAIN) |
| if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
| if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
| if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
| if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
| if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
| if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
| 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) |
| { |
| SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| HoehenReglerAktiv = 0; |
| } |
| else |
| HoehenReglerAktiv = 1; |
| } |
| else |
| { |
| SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
| HoehenReglerAktiv = 1; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Height Control |
| // The height control algorithm reduces the thrust but does not increase the thrust. |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) SollHoehe = 0; |
| h = HoehenWert; |
| if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| { |
| h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / (16 / STICK_GAIN); // Differenz bestimmen --> P-Anteil |
| h = GasMischanteil - h; // vom Gas abziehen |
| // h -= (HoeheD * Parameter_Luftdruck_D)/(8/STICK_GAIN); // D-Anteil |
| h -= (HoeheD)/(8/STICK_GAIN); // D-Anteil |
| tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
| if(tmp_int > 70*STICK_GAIN) tmp_int = 70*STICK_GAIN; |
| else if(tmp_int < -(70*STICK_GAIN)) tmp_int = -(70*STICK_GAIN); |
| h -= tmp_int; |
| hoehenregler = (hoehenregler*15 + h) / 16; |
| if(hoehenregler < EE_Parameter.Hoehe_MinGas * STICK_GAIN) // nicht unter MIN |
| { |
| if(GasMischanteil >= EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = EE_Parameter.Hoehe_MinGas * STICK_GAIN; |
| if(GasMischanteil < EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = GasMischanteil; |
| } |
| if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| GasMischanteil = hoehenregler; |
| } |
| } |
| if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = GasMischanteil; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MUL_G 1.0 |
| GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| // GierMischanteil = 0; |
| #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
| if(GasMischanteil > MIN_GIERGAS) |
| { |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| } |
| else |
| { |
| if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
| } |
| tmp_int = MAX_GAS*STICK_GAIN; |
| if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| ThrustMixFraction *= STICK_GAIN; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - StickNick; // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
| pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| // Motor Vorn |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| // If height control is activated and no emergency landing is active |
| if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
| { |
| int tmp_int; |
| // if height control is activated by an rc channel |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
| { // check if parameter is less than activation threshold |
| if(FCParam.MaxHeight < 50) |
| { |
| SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
| HeightControlActive = 0; // disable height control |
| } |
| else HeightControlActive = 1; // enable height control |
| } |
| else // no switchable height control |
| { |
| SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
| HeightControlActive = 1; |
| } |
| // get current height |
| h = ReadingHeight; |
| // if current height is above the setpoint reduce thrust |
| if((h > SetPointHeight) && HeightControlActive) |
| { |
| // ThrustMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
| // height difference -> P control part |
| h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / (16 / STICK_GAIN); |
| h = ThrustMixFraction - h; // reduce gas |
| // height gradient --> D control part |
| //h -= (HeightD * FCParam.Height_D) / (8 / STICK_GAIN); // D control part |
| h -= (HeightD) / (8 / STICK_GAIN); // D control part |
| // acceleration sensor effect |
| tmp_int = ((Reading_Integral_Top / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
| if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
| else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
| h -= tmp_int; |
| // update height control thrust |
| HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
| // limit thrust reduction |
| if(HeightControlThrust < ParamSet.Height_MinThrust * STICK_GAIN) |
| { |
| if(ThrustMixFraction >= ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ParamSet.Height_MinThrust * STICK_GAIN; |
| // allows landing also if thrust stick is reduced below min thrust on height control |
| if(ThrustMixFraction < ParamSet.Height_MinThrust * STICK_GAIN) HeightControlThrust = ThrustMixFraction; |
| } |
| // limit thrust to stick setting |
| if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
| ThrustMixFraction = HeightControlThrust; |
| } |
| } |
| // limit thrust to parameter setting |
| if(ThrustMixFraction > (ParamSet.Trust_Max - 20) * STICK_GAIN) ThrustMixFraction = (ParamSet.Trust_Max - 20) * STICK_GAIN; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mixer and PI-Controller |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = ThrustMixFraction; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Yaw-Fraction |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| YawMixFraction = Reading_GyroYaw - SetPointYaw * STICK_GAIN; // yaw controller |
| #define MIN_YAWTHRUST (40 * STICK_GAIN) // yaw also below this thrust value |
| // limit YawMixFraction |
| if(ThrustMixFraction > MIN_YAWTHRUST) |
| { |
| if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
| if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
| } |
| else |
| { |
| if(YawMixFraction > (MIN_YAWTHRUST / 2)) YawMixFraction = MIN_YAWTHRUST / 2; |
| if(YawMixFraction < -(MIN_YAWTHRUST / 2)) YawMixFraction = -(MIN_YAWTHRUST / 2); |
| } |
| tmp_int = ParamSet.Trust_Max * STICK_GAIN; |
| if(YawMixFraction > ((tmp_int - ThrustMixFraction))) YawMixFraction = ((tmp_int - ThrustMixFraction)); |
| if(YawMixFraction < -((tmp_int - ThrustMixFraction))) YawMixFraction = -((tmp_int - ThrustMixFraction)); |
| motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| motorwert /= STICK_GAIN; |
| if ((motorwert < 0)) 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; |
| motorwert /= STICK_GAIN; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Hinten = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 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; |
| pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| // Motor Links |
| motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| motorwert /= STICK_GAIN; |
| if ((motorwert < 0)) 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; |
| motorwert /= STICK_GAIN; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Rechts = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Pitch-Axis |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffPitch = Reading_GyroPitch - StickPitch; // get difference |
| if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - StickPitch; // I-part for attitude control |
| else SumPitch += DiffPitch; // I-part for head holding |
| if(SumPitch > (STICK_GAIN * 16000L)) SumPitch = (STICK_GAIN * 16000L); |
| if(SumPitch < -(STICK_GAIN * 16000L)) SumPitch = -(STICK_GAIN * 16000L); |
| pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
| tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
| if(pd_result > tmp_int) pd_result = tmp_int; |
| if(pd_result < -tmp_int) pd_result = -tmp_int; |
| // Motor Front |
| MotorValue = ThrustMixFraction + pd_result + YawMixFraction; // Mixer |
| MotorValue /= STICK_GAIN; |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Front = MotorValue; |
| // Motor Rear |
| MotorValue = ThrustMixFraction - pd_result + YawMixFraction; // Mixer |
| MotorValue /= STICK_GAIN; |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Rear = MotorValue; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Axis |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = Reading_GyroRoll - StickRoll; // get difference |
| if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - StickRoll; // I-part for attitude control |
| else SumRoll += DiffRoll; // I-part for head holding |
| if(SumRoll > 16000) SumRoll = 16000; |
| if(SumRoll < -16000) SumRoll = -16000; |
| pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
| tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
| if(pd_result > tmp_int) pd_result = tmp_int; |
| if(pd_result < -tmp_int) pd_result = -tmp_int; |
| // Motor Left |
| MotorValue = ThrustMixFraction + pd_result - YawMixFraction; // Mixer |
| MotorValue /= STICK_GAIN; |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Left = MotorValue; |
| // Motor Right |
| MotorValue = ThrustMixFraction - pd_result - YawMixFraction; // Mixer |
| MotorValue /= STICK_GAIN; |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Right = MotorValue; |
| } |
| /branches/V0.69k Code Redesign killagreg/fc.h |
|---|
| 4,139 → 4,106 |
| #ifndef _FC_H |
| #define _FC_H |
| //#define GIER_GRAD_FAKTOR 1450L // Abhängigkeit wzischen GyroIntegral und Winkel |
| #define GIER_GRAD_FAKTOR 1550L // Abhängigkeit wzischen GyroIntegral und Winkel |
| #include <inttypes.h> |
| #define YAW_GYRO_DEG_FACTOR 1550L // Factor between Yaw Gyro Integral and HeadingAngle in deg |
| #define STICK_GAIN 4 |
| extern volatile unsigned int I2CTimeout; |
| extern unsigned char Sekunde,Minute; |
| extern long IntegralNick,IntegralNick2; |
| extern long IntegralRoll,IntegralRoll2; |
| extern long Mess_IntegralNick,Mess_IntegralNick2; |
| extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern long IntegralAccNick,IntegralAccRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern long ErsatzKompass; |
| extern int ErsatzKompassInGrad; // Kompasswert in Grad |
| 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; |
| typedef struct |
| { |
| uint8_t Height_D; |
| uint8_t MaxHeight; |
| uint8_t Height_P; |
| uint8_t Height_ACC_Effect; |
| uint8_t CompassYawEffect; |
| uint8_t Gyro_P; |
| uint8_t Gyro_I; |
| uint8_t Gier_P; |
| uint8_t I_Factor; |
| uint8_t UserParam1; |
| uint8_t UserParam2; |
| uint8_t UserParam3; |
| uint8_t UserParam4; |
| uint8_t UserParam5; |
| uint8_t UserParam6; |
| uint8_t UserParam7; |
| uint8_t UserParam8; |
| uint8_t ServoPitchControl; |
| uint8_t LoopThrustLimit; |
| uint8_t Yaw_PosFeedback; |
| uint8_t Yaw_NegFeedback; |
| uint8_t DynamicStability; |
| } fc_param_t; |
| extern fc_param_t FCParam; |
| extern volatile uint16_t I2CTimeout; |
| // attitude |
| extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw; |
| extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
| // offsets |
| extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw; |
| extern volatile int16_t NeutralAccX, NeutralAccY; |
| extern volatile float NeutralAccZ; |
| extern long Umschlag180Nick, Umschlag180Roll; |
| extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
| extern unsigned int modell_fliegt; |
| void MotorRegler(void); |
| extern volatile int32_t Reading_Integral_Top; // calculated in analog.c |
| // compass navigation |
| extern volatile int16_t CompassHeading; |
| extern volatile int16_t CompassCourse; |
| extern volatile int16_t CompassOffCourse; |
| extern volatile uint8_t CompassCalState; |
| extern int32_t YawGyroHeading; |
| extern int16_t YawGyroHeadingInDeg; |
| // hight control |
| extern int ReadingHeight; |
| extern int SetPointHeight; |
| // mean accelerations |
| extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
| // acceleration send to navi board |
| extern int16_t NaviAccPitch, NaviAccRoll, NaviCntAcc; |
| // looping params |
| extern long TurnOver180Pitch, TurnOver180Roll; |
| // external control |
| extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw; |
| void MotorControl(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void CalibMean(void); |
| void Mean(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| extern void DefaultKonstanten(void); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| void Beep(uint8_t numbeeps); |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| extern volatile unsigned char SenderOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern void DefaultKonstanten1(void); |
| extern void DefaultKonstanten2(void); |
| #define STRUCT_PARAM_LAENGE 71 |
| 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; // |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
| unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
| unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
| unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
| unsigned char Driftkomp; |
| unsigned char DynamicStability; |
| unsigned char UserParam5; // Wert : 0-250 |
| unsigned char UserParam6; // Wert : 0-250 |
| unsigned char UserParam7; // Wert : 0-250 |
| unsigned char UserParam8; // Wert : 0-250 |
| extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
| //------------------------------------------------ |
| unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[4]; |
| char Name[12]; |
| }; |
| // setpoints for motors |
| extern volatile uint8_t Motor_Front, Motor_Rear, Motor_Right, Motor_Left; //used by twimaster isr |
| // current stick values |
| extern int16_t StickPitch; |
| extern int16_t StickRoll; |
| extern int16_t StickYaw; |
| extern int16_t GPS_Pitch; |
| extern int16_t GPS_Roll; |
| /* |
| unsigned char ServoNickMax; // Wert : 0-250 |
| unsigned char ServoNickRefresh; // |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| //------------------------------------------------ |
| unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[4]; |
| char Name[12]; |
| */ |
| extern struct mk_param_struct EE_Parameter; |
| // current stick elongations |
| extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw; |
| extern uint8_t MotorsOn; |
| extern uint8_t EmergencyLanding; |
| extern uint16_t Model_Is_Flying; |
| 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; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsGegenKopplung1; |
| #endif //_FC_H |
| /branches/V0.69k Code Redesign killagreg/fifo.c |
|---|
| 0,0 → 1,28 |
| #include "fifo.h" |
| void fifo_init (fifo_t *f, uint8_t *buffer, const uint8_t size) |
| { |
| f->count = 0; |
| f->pread = f->pwrite = buffer; |
| f->read2end = f->write2end = f->size = size; |
| } |
| uint8_t fifo_put (fifo_t *f, const uint8_t data) |
| { |
| return _inline_fifo_put (f, data); |
| } |
| uint8_t fifo_get_wait (fifo_t *f) |
| { |
| while (!f->count); |
| return _inline_fifo_get (f); |
| } |
| int16_t fifo_get_nowait (fifo_t *f) |
| { |
| if (!f->count) return -1; |
| return (int16_t) _inline_fifo_get (f); |
| } |
| /branches/V0.69k Code Redesign killagreg/fifo.h |
|---|
| 0,0 → 1,98 |
| #ifndef _FIFO_H_ |
| #define _FIFO_H_ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| // the fifo object |
| typedef struct |
| { |
| uint8_t volatile count; // # number of characters in FIFO |
| uint8_t size; // buffer size |
| uint8_t *pread; // read pointer |
| uint8_t *pwrite; // write pointer |
| uint8_t read2end, write2end; // number of characters for buffer overflow for read/write pointers |
| } fifo_t; |
| /* |
| The initialization of the FIFO sets the read/write pointers etc.. |
| The FIFO uses the buffer 'buf' which byte length must 'size'. |
| */ |
| extern void fifo_init (fifo_t*, uint8_t* buf, const uint8_t size); |
| /* |
| Puts a byte into the FIFO. Returns 1 on success ans 0 in case of FIFO overflow. |
| */ |
| extern uint8_t fifo_put (fifo_t*, const uint8_t data); |
| /* |
| Get the next byte out of the FIFO. If the FIFO is empty the function blocks |
| until the next byte is put into the FIFO. |
| */ |
| extern uint8_t fifo_get_wait (fifo_t*); |
| /* |
| Get the next byte from the FIFO as int. Returns -1 if the FIFO is empty. |
| */ |
| extern int16_t fifo_get_nowait (fifo_t*); |
| /* |
| The same like fifo_put |
| */ |
| static inline uint8_t _inline_fifo_put (fifo_t *f, const uint8_t data) |
| { |
| if (f->count >= f->size) |
| return 0; |
| uint8_t * pwrite = f->pwrite; |
| *(pwrite++) = data; |
| uint8_t write2end = f->write2end; |
| if (--write2end == 0) |
| { |
| write2end = f->size; |
| pwrite -= write2end; |
| } |
| f->write2end = write2end; |
| f->pwrite = pwrite; |
| uint8_t sreg = SREG; |
| cli(); |
| f->count++; |
| SREG = sreg; |
| return 1; |
| } |
| /* |
| Get the next byte from FIFO. Before this functionis called |
| it must be checked that there is a byte in the FIFO to get. |
| */ |
| static inline uint8_t _inline_fifo_get (fifo_t *f) |
| { |
| uint8_t *pread = f->pread; |
| uint8_t data = *(pread++); |
| uint8_t read2end = f->read2end; |
| if (--read2end == 0) |
| { |
| read2end = f->size; |
| pread -= read2end; |
| } |
| f->pread = pread; |
| f->read2end = read2end; |
| uint8_t sreg = SREG; |
| cli(); |
| f->count--; |
| SREG = sreg; |
| return data; |
| } |
| #endif /* _FIFO_H_ */ |
| /branches/V0.69k Code Redesign killagreg/gps.c |
|---|
| 0,0 → 1,374 |
| #include <inttypes.h> |
| #include <stdlib.h> |
| #include "fc.h" |
| #include "ubx.h" |
| #include "mymath.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| #define TSK_IDLE 0 |
| #define TSK_HOLD 1 |
| #define TSK_HOME 2 |
| #define GPS_STICK_SENSE 15 // must be at least in a range where 90% of the trimming does not switch of the GPS function |
| #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
| #define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral |
| #define GPS_P_LIMIT 25 |
| uint8_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0; |
| typedef struct |
| { |
| int32_t Longitude; |
| int32_t Latitude; |
| int32_t Altitude; |
| uint8_t Status; |
| } GPS_Pos_t; |
| // GPS coordinates for hold position |
| GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
| // GPS coordinates for home position |
| GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
| // --------------------------------------------------------------------------------- |
| // checks pitch and roll sticks for manual control |
| uint8_t IsManualControlled(void) |
| { |
| if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0; |
| else return 1; |
| } |
| // set home position to current positon |
| void GPS_SetHomePosition(void) |
| { |
| if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
| { |
| HomePosition.Longitude = GPSInfo.longitude; |
| HomePosition.Latitude = GPSInfo.latitude; |
| HomePosition.Altitude = GPSInfo.altitude; |
| HomePosition.Status = VALID; |
| BeepTime = 1000; // signal if new home position was set |
| } |
| else |
| { |
| HomePosition.Status = INVALID; |
| } |
| } |
| // set hold position to current positon |
| void GPS_SetHoldPosition(void) |
| { |
| if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
| { |
| HoldPosition.Longitude = GPSInfo.longitude; |
| HoldPosition.Latitude = GPSInfo.latitude; |
| HoldPosition.Altitude = GPSInfo.altitude; |
| HoldPosition.Status = VALID; |
| } |
| else |
| { |
| HoldPosition.Status = INVALID; |
| } |
| } |
| // clear home position |
| void GPS_ClearHomePosition(void) |
| { |
| HomePosition.Status = INVALID; |
| } |
| // disable GPS control sticks |
| void GPS_Neutral(void) |
| { |
| GPS_Pitch = 0; |
| GPS_Roll = 0; |
| } |
| // calculates the GPS control stick values from the deviation to target position |
| // if the pointer to the target positin is NULL or is the target position invalid |
| // then the P part of the controller is deactivated. |
| void GPS_PIDController(GPS_Pos_t *pTargetPos) |
| { |
| int32_t temp, temp1, PID_Pitch, PID_Roll; |
| int32_t coscompass, sincompass; |
| int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
| int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
| int32_t PID_North = 0, PID_East = 0; |
| static int32_t cos_target_latitude = 1; |
| static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
| static GPS_Pos_t *pLastTargetPos = 0; |
| // if GPS data and Compass are ok |
| if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) ) |
| { |
| if(pTargetPos != NULL) // if there is a target position |
| { |
| if(pTargetPos->Status != INVALID) // and the position data are valid |
| { |
| // if the target data are updated or the target pointer has changed |
| if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
| { |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| // recalculate latitude projection |
| cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
| // remember last target pointer |
| pLastTargetPos = pTargetPos; |
| // mark data as processed |
| pTargetPos->Status = PROCESSED; |
| } |
| // calculate position deviation from latitude and longitude differences |
| GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
| GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
| // calculate latitude projection |
| GPSPosDev_East *= cos_target_latitude; |
| GPSPosDev_East /= 8192; |
| } |
| else // no valid target position available |
| { |
| // reset error |
| GPSPosDev_North = 0; |
| GPSPosDev_East = 0; |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| } |
| } |
| else // no target position available |
| { |
| // reset error |
| GPSPosDev_North = 0; |
| GPSPosDev_East = 0; |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| } |
| //Calculate PID-components of the controller (negative sign for compensation) |
| // P-Part |
| P_North = -((int32_t)GPS_P_Factor * GPSPosDev_North)/2048; |
| P_East = -((int32_t)GPS_P_Factor * GPSPosDev_East)/2048; |
| // I-Part |
| I_North = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_North)/8192; |
| I_East = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_East)/8192; |
| // combine P- & I-Part |
| PID_North = P_North + I_North; |
| PID_East = P_East + I_East; |
| //limit PI-Part to limit the max velocity |
| //temp1 = ((int32_t)GPS_D_Factor * MAX_VELOCITY)/512; // the PI-Part limit |
| temp = (int32_t)c_sqrt(PID_North*PID_North + PID_East*PID_East); // the current PI-Part |
| if(temp > GPS_P_LIMIT) // P-Part limit is reached |
| { |
| // normalize P-part components to the P-Part limit |
| PID_North = (PID_North * GPS_P_LIMIT)/temp; |
| PID_East = (PID_East * GPS_P_LIMIT)/temp; |
| } |
| else // PI-Part under its limit |
| { |
| // update position error integrals |
| GPSPosDevIntegral_North += GPSPosDev_North/16; |
| if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT; |
| else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT; |
| GPSPosDevIntegral_East += GPSPosDev_East/16; |
| if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT; |
| else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT; |
| } |
| // D-Part |
| D_North = -((int32_t)GPS_D_Factor * GPSInfo.velnorth)/512; |
| D_East = -((int32_t)GPS_D_Factor * GPSInfo.veleast)/512; |
| // combine PI- and D-Part |
| PID_North += D_North; |
| PID_East += D_East; |
| // GPS to pitch and roll settings |
| // A positive pitch angle moves head downwards (flying forward). |
| // A positive roll angle tilts left side downwards (flying left). |
| // If compass heading is 0 the head of the copter is in north direction. |
| // A positive pitch angle will fly to north and a positive roll angle will fly to west. |
| // In case of a positive north deviation/velocity the |
| // copter should fly to south (negative pitch). |
| // In case of a positive east position deviation and a positive east velocity the |
| // copter should fly to west (positive roll). |
| // The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values |
| // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
| // GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll. |
| coscompass = (int32_t)c_cos_8192(CompassHeading); |
| sincompass = (int32_t)c_sin_8192(CompassHeading); |
| PID_Roll = (coscompass * PID_East - sincompass * PID_North) / 8192; |
| PID_Pitch = -1*((sincompass * PID_East + coscompass * PID_North) / 8192); |
| // limit resulting GPS control vector |
| temp = (int32_t)c_sqrt(PID_Roll*PID_Roll + PID_Pitch*PID_Pitch); |
| if (temp > GPS_STICK_LIMIT) |
| { |
| // normalize control vector components to the limit |
| PID_Roll = (PID_Roll * GPS_STICK_LIMIT)/temp; |
| PID_Pitch = (PID_Pitch * GPS_STICK_LIMIT)/temp; |
| } |
| GPS_Roll = (int16_t)PID_Roll; |
| GPS_Pitch = (int16_t)PID_Pitch; |
| } |
| else // invalid GPS data or bad compass reading |
| { |
| GPS_Neutral(); // do nothing |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| } |
| } |
| void GPS_Main(uint8_t ctrl) |
| { |
| static uint8_t GPS_Task = TSK_IDLE; |
| static uint8_t GPS_P_Delay = 0; |
| int16_t satbeep; |
| // ctrl enables the gps feature |
| if(ctrl < 70) GPS_Task = TSK_IDLE; |
| else if (ctrl < 160) GPS_Task = TSK_HOLD; |
| else GPS_Task = TSK_HOME; // ctrl >= 160 |
| switch(GPSInfo.status) |
| { |
| case INVALID: // invalid gps data |
| GPS_Neutral(); |
| if(GPS_Task != TSK_IDLE) |
| { |
| BeepTime = 100; // beep if signal is neccesary |
| } |
| break; |
| case PROCESSED: // if gps data are already processed do nothing |
| // downcount timeout |
| if(GPSTimeout) GPSTimeout--; |
| // if no new data arrived within timeout set current data invalid |
| // and therefore disable GPS |
| else |
| { |
| GPS_Neutral(); |
| GPSInfo.status = INVALID; |
| } |
| break; |
| case VALID: // new valid data from gps device |
| // if the gps data quality is good |
| DebugOut.Analog[29] = (int16_t)GPSInfo.updatetime; |
| if (GPSInfo.satfix == SATFIX_3D) |
| { |
| switch(GPS_Task) // check what's to do |
| { |
| case TSK_IDLE: |
| // update hold position to current gps position |
| GPS_SetHoldPosition(); // can get invalid if gps signal is bad |
| // disable gps control |
| GPS_Neutral(); |
| break; // eof TSK_IDLE |
| case TSK_HOLD: |
| if(HoldPosition.Status != INVALID) |
| { |
| if( IsManualControlled() ) // MK controlled by user |
| { |
| // update hold point to current gps position |
| GPS_SetHoldPosition(); |
| // disable gps control |
| GPS_Neutral(); |
| GPS_P_Delay = 0; |
| } |
| else // GPS control active |
| { |
| if(GPS_P_Delay<7) |
| { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
| GPS_P_Delay++; |
| GPS_SetHoldPosition(); // update hold point to current gps position |
| GPS_PIDController(NULL); // activates only the D-Part |
| } |
| else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
| } |
| } |
| else // invalid Hold Position |
| { // try to catch a valid hold position from gps data input |
| GPS_SetHoldPosition(); |
| GPS_Neutral(); |
| } |
| break; // eof TSK_HOLD |
| case TSK_HOME: |
| if(HomePosition.Status != INVALID) |
| { |
| // update hold point to current gps position |
| // to avoid a flight back if home comming is deactivated |
| GPS_SetHoldPosition(); |
| if( IsManualControlled() ) // MK controlled by user |
| { |
| GPS_Neutral(); |
| } |
| else // GPS control active |
| { |
| GPS_PIDController(&HomePosition); |
| } |
| } |
| else // bad home position |
| { |
| BeepTime = 50; // signal invalid home position |
| // try to hold at least the position as a fallback option |
| if (HoldPosition.Status != INVALID) |
| { |
| if( IsManualControlled() ) // MK controlled by user |
| { |
| GPS_Neutral(); |
| } |
| else // GPS control active |
| { |
| GPS_PIDController(&HoldPosition); |
| } |
| } |
| else |
| { // try to catch a valid hold position |
| GPS_SetHoldPosition(); |
| GPS_Neutral(); |
| } |
| } |
| break; // eof TSK_HOME |
| default: // unhandled task |
| GPS_Neutral(); |
| break; // eof default |
| } // eof switch GPS_Task |
| } // eof 3D-FIX |
| else // no 3D-SATFIX |
| { // disable gps control |
| GPS_Neutral(); |
| if(GPS_Task != TSK_IDLE) |
| { |
| satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats |
| if (satbeep < 0) satbeep = 0; |
| BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms = |
| } |
| } |
| // set current data as processed to avoid further calculations on the same gps data |
| GPSInfo.status = PROCESSED; |
| break; |
| } // eof GPSInfo.status |
| } |
| /branches/V0.69k Code Redesign killagreg/gps.h |
|---|
| 1,7 → 1,15 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern signed int GPS_Nick2; |
| extern signed int GPS_Roll2; |
| #ifndef _GPS_H |
| #define _GPS_H |
| void GPS_Neutral(void); |
| void GPS_BerechneZielrichtung(void); |
| #include <inttypes.h> |
| extern uint8_t GPS_P_Factor; |
| extern uint8_t GPS_I_Factor; |
| extern uint8_t GPS_D_Factor; |
| extern void GPS_Main(uint8_t ctrl); |
| extern void GPS_SetHomePosition(void); |
| extern void GPS_ClearHomePosition(void); |
| #endif //_GPS_H |
| /branches/V0.69k Code Redesign killagreg/led.c |
|---|
| 0,0 → 1,42 |
| #include <inttypes.h> |
| #include "led.h" |
| #include "fc.h" |
| uint16_t LED1_Time = 0; |
| uint16_t LED2_Time = 0; |
| // initializes the LED control outputs J16, J17 |
| void LED_Init(void) |
| { |
| // set PC2 & PC3 as output (control of J16 & J17) |
| DDRC |= (1<<DDC2)|(1<<DDC3); |
| J16_OFF; |
| J17_OFF; |
| } |
| // called in UpdateMotors() every 2ms |
| void LED_Update(void) |
| { |
| static uint16_t J16_blinkcount = 0; |
| static uint16_t J17_blinkcount = 0; |
| if (LED1_Time < 20) J16_ON; |
| else if(LED1_Time < 220) |
| { |
| if((2 * J16_blinkcount) < LED1_Time) J16_ON; |
| else J16_OFF; |
| if(J16_blinkcount++ >= LED1_Time) J16_blinkcount = 0; |
| } |
| else J16_ON; |
| if (LED2_Time < 20) J17_OFF; |
| else if(LED2_Time < 220) |
| { |
| if((2 * J17_blinkcount) < LED2_Time) J17_ON; |
| else J17_OFF; |
| if(J17_blinkcount++ >= LED2_Time) J17_blinkcount = 0; |
| } |
| else J17_OFF; |
| } |
| /branches/V0.69k Code Redesign killagreg/led.h |
|---|
| 0,0 → 1,22 |
| #ifndef _LED_H |
| #define _LED_H |
| #include <avr/io.h> |
| #define J16_ON PORTC |= (1<<PORTC2) |
| #define J16_OFF PORTC &= ~(1<<PORTC2) |
| #define J16_TOGGLE PORTC ^= (1<<PORTC2) |
| #define J17_ON PORTC |= (1<<PORTC3) |
| #define J17_OFF PORTC &= ~(1<<PORTC3) |
| #define J17_TOGGLE PORTC ^= (1<<PORTC3) |
| extern uint16_t LED1_Time; |
| extern uint16_t LED2_Time; |
| extern void LED_Init(void); |
| extern void LED_Update(void); |
| #endif //_LED_H |
| /branches/V0.69k Code Redesign killagreg/main.c |
|---|
| 3,14 → 3,14 |
| // + 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. |
| // + 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, |
| // + 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 |
| 21,21 → 21,21 |
| // + 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 |
| // + 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, |
| // + 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 |
| // + * 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 |
| // + 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 |
| // + * 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 |
| 47,63 → 47,43 |
| // + 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. |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include <avr/boot.h> |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| unsigned char PlatinenVersion = 10; |
| unsigned char SendVersionToNavi = 1; |
| // -- 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); |
| } |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "main.h" |
| #include "timer0.h" |
| #include "timer2.h" |
| #include "uart.h" |
| #if defined (__AVR_ATmega644P__) |
| #include "uart1.h" |
| #endif |
| #include "led.h" |
| #include "menu.h" |
| #include "fc.h" |
| #include "rc.h" |
| #include "analog.h" |
| #include "printf_P.h" |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #endif |
| #ifdef USE_NAVICTRL |
| #include "spi.h" |
| #endif |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| #include "mk3mag.h" |
| #endif |
| #include "twimaster.h" |
| #include "eeprom.h" |
| #include "_Settings.h" |
| // -- 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) |
| { |
| unsigned char set; |
| set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
| if(set > 5) |
| { |
| set = 2; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
| } |
| return(set); |
| } |
| uint8_t BoardRelease = 10; |
| void CalMk3Mag(void) |
| { |
| static unsigned char stick = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
| { |
| stick = 1; |
| WinkelOut.CalcState++; |
| if(WinkelOut.CalcState > 4) |
| { |
| // WinkelOut.CalcState = 0; // in Uart.c |
| beeptime = 1000; |
| } |
| else Piep(WinkelOut.CalcState); |
| } |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| 111,169 → 91,207 |
| { |
| unsigned int timer; |
| //unsigned int timer2 = 0; |
| 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 |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| // disable interrupts global |
| cli(); |
| // get board release |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // make some delay |
| if(PINB & (1<<PINB0)) BoardRelease = 11; |
| else BoardRelease = 10; |
| // set LED ports as output |
| DDRB |= (1<<DDB1)|(1<<DDB0); |
| ROT_ON; |
| GRN_OFF; |
| // disable watchdog |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| BeepTime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| PPM_in[CH_THRUST] = 0; |
| StickYaw = 0; |
| StickRoll = 0; |
| StickPitch = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| // initalize modules |
| LED_Init(); |
| TIMER0_Init(); |
| TIMER2_Init(); |
| USART0_Init(); |
| #if defined (__AVR_ATmega644P__) |
| if (BoardRelease == 11) USART1_Init(); |
| #endif |
| RC_Init(); |
| ADC_Init(); |
| i2c_init(); |
| I2C_Init(); |
| #ifdef USE_KILLAGREG |
| MM3_Init(); |
| #endif |
| #ifdef USE_NAVICTRL |
| SPI_MasterInit(); |
| #endif |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| MK3MAG_Init(); |
| #endif |
| // enable interrupts global |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a'); |
| VersionInfo.Major = VERSION_MAJOR; |
| VersionInfo.Minor = VERSION_MINOR; |
| VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a'); |
| printf("\n\r=============================="); |
| GRN_ON; |
| #define EE_DATENREVISION 70 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); // Kamera |
| if(i==3) DefaultKonstanten3(); // Beginner |
| if(i>3) DefaultKonstanten2(); // Kamera |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
| } |
| // Parameter set handling |
| ParamSet_Init(); |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| if(GetParamWord(PID_ACC_PITCH) > 1023) |
| { |
| printf("\n\rACC nicht abgeglichen!"); |
| printf("\n\rACC not calibrated!"); |
| } |
| 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(1000); |
| SucheLuftruckOffset(); |
| //wait for a short time (otherwise the RC channel check won't work below) |
| timer = SetDelay(500); |
| while(!CheckDelay(timer)); |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| printf("\n\rSupport for MK3MAG Compass"); |
| #endif |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| { |
| printf("\n\rCalibrating air pressure sensor.."); |
| timer = SetDelay(1000); |
| SearchAirPressureOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| #ifdef USE_KILLAGREG |
| printf("\n\rSupport for MicroMag3 Compass"); |
| #if defined (__AVR_ATmega644P__) |
| if(BoardRelease == 10) |
| { |
| printf("\n\rSupport for GPS at 1st UART"); |
| } |
| else |
| { |
| printf("\n\rSupport for GPS at 2nd UART"); |
| } |
| #else // (__AVR_ATmega644__) |
| printf("\n\rSupport for GPS at 1st UART"); |
| #endif |
| #endif |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| ExternControl.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| BeepTime = 2000; |
| ExternControl.Digital[0] = 0x55; |
| printf("\n\rControl: "); |
| if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| LCD_Clear(); |
| I2CTimeout = 5000; |
| WinkelOut.Orientation = 1; |
| while (1) |
| { |
| if(UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| //PORTD |= 0x08; |
| if(WinkelOut.CalcState) CalMk3Mag(); |
| else MotorRegler(); |
| //PORTD &= ~0x08; |
| SendMotorData(); |
| if(UpdateMotor) // control interval |
| { |
| UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
| //PORTD |= (1<<PORTD4); |
| MotorControl(); |
| //PORTD &= ~(1<<PORTD4); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| DubWiseKeys[0] = 0; |
| if(PcAccess) PcAccess--; |
| else |
| { |
| DubWiseKeys[0] = 0; |
| DubWiseKeys[1] = 0; |
| ExternControl.Config = 0; |
| ExternStickNick = 0; |
| ExternStickPitch= 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| } |
| if(SenderOkay) SenderOkay--; |
| ExternStickYaw = 0; |
| } |
| if(!I2CTimeout) |
| { |
| I2CTimeout = 5; |
| I2C_Reset(); |
| if((BeepModulation == 0xFFFF) && MotorsOn) |
| { |
| BeepTime = 10000; // 1 second |
| BeepModulation = 0x0080; |
| } |
| } |
| else |
| { |
| I2CTimeout--; |
| ROT_OFF; |
| } |
| if(SIO_DEBUG && (!UpdateMotor || !MotorsOn)) |
| { |
| USART0_TransmitTxData(); |
| USART0_ProcessRxData(); |
| } |
| else USART0_ProcessRxData(); |
| if(CheckDelay(timer)) |
| { |
| if(UBat < ParamSet.LowVoltageWarning) |
| { |
| I2CTimeout = 5; |
| i2c_reset(); |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 10000; |
| BeepMuster = 0x0080; |
| } |
| if(BeepModulation == 0xFFFF) |
| { |
| BeepTime = 6000; // 0.6 seconds |
| BeepModulation = 0x0300; |
| } |
| } |
| else |
| { |
| I2CTimeout--; |
| ROT_OFF; |
| } |
| if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer)) |
| { |
| if(UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| /* if(SendVersionToNavi) |
| { |
| SPI_StartTransmitPacket(SPI_CMD_VERSION);//# |
| SendVersionToNavi = 0; |
| } |
| else SPI_StartTransmitPacket(SPI_CMD_VALUE);//# |
| */ |
| SPI_StartTransmitPacket();//# |
| #ifdef USE_NAVICTRL |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |
| #endif |
| timer = SetDelay(20); // every 20 ms |
| } |
| } |
| SendSPI = 4; |
| timer = SetDelay(20); |
| } |
| //if(UpdateMotor) DebugOut.Analog[26]++; |
| } |
| if(!SendSPI) { SPI_TransmitByte(); } |
| #ifdef USE_NAVICTRL |
| if(!SendSPI) |
| { // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
| // within the SPI_TransmitByte() routine the value is set to 4. |
| // I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
| // and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
| SPI_TransmitByte(); |
| } |
| #endif |
| } |
| return (1); |
| return (1); |
| } |
| /branches/V0.69k Code Redesign killagreg/main.h |
|---|
| 1,6 → 1,8 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| #define _MAIN_H |
| #include <avr/io.h> |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| 8,92 → 10,27 |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #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 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTB ^= 0x02 |
| #if defined (__AVR_ATmega644P__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #define F_CPU SYSCLK |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_LAST_OFFSET 3 |
| #define EEPROM_ADR_ACC_NICK 4 |
| #define EEPROM_ADR_ACC_ROLL 6 |
| #define EEPROM_ADR_ACC_Z 8 |
| // neue Hardware |
| #define ROT_OFF {if(BoardRelease == 10) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
| #define ROT_ON {if(BoardRelease == 10) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
| #define ROT_FLASH PORTB ^= (1<<PORTB0) |
| #define GRN_OFF PORTB &=~(1<<PORTB1) |
| #define GRN_ON PORTB |= (1<<PORTB1) |
| #define GRN_FLASH PORTB ^= (1<<PORTB1) |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #include <inttypes.h> |
| #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 CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
| #define CFG_DREHRATEN_BEGRENZER 0x80 |
| extern uint8_t BoardRelease; |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| //#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 unsigned char PlatinenVersion; |
| extern unsigned char SendVersionToNavi; |
| 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[]; |
| #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 "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "spi.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/V0.69k Code Redesign killagreg/makefile |
|---|
| 1,31 → 1,32 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| #MCU = atmega644 |
| MCU = atmega644p |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 69 |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 69 |
| VERSION_INDEX = 10 |
| VERSION_KOMPATIBEL = 7 # PC-Kompatibilität |
| VERSION_COMPATIBLE = 7 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| #OPTIONS |
| # Use on of the extensions für a gps solution |
| # If no extension is used the support for the MK3MAG only is included. |
| #EXT = KILLAGREG |
| #EXT = NAVICTRL |
| #------------------------------------------------------------------- |
| 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 |
| HEX_NAME = MEGA644_$(EXT) |
| endif |
| ifeq ($(MCU), atmega644p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA644 |
| HEX_NAME = MEGA644p_$(EXT) |
| endif |
| 44,39 → 45,40 |
| # Target file name (without extension). |
| ifeq ($(VERSION_INDEX), 0) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)a |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a |
| endif |
| ifeq ($(VERSION_INDEX), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)b |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b |
| endif |
| ifeq ($(VERSION_INDEX), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)c |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c |
| endif |
| ifeq ($(VERSION_INDEX), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)d |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d |
| endif |
| ifeq ($(VERSION_INDEX), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)e |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e |
| endif |
| ifeq ($(VERSION_INDEX), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)f |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f |
| endif |
| ifeq ($(VERSION_INDEX), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)g |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g |
| endif |
| ifeq ($(VERSION_INDEX), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)h |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h |
| endif |
| ifeq ($(VERSION_INDEX), 8) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)i |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i |
| endif |
| ifeq ($(VERSION_INDEX), 9) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)j |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j |
| endif |
| ifeq ($(VERSION_INDEX), 10) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)k |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k |
| endif |
| # 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 |
| 83,9 → 85,19 |
| ########################################################################################################## |
| # 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 spi.c |
| SRC = main.c uart.c printf_P.c timer0.c timer2.c analog.c menu.c led.c |
| SRC += twimaster.c rc.c fc.c eeprom.c fifo.c |
| ifeq ($(MCU), atmega644p) |
| SRC += uart1.c |
| endif |
| ifeq ($(EXT), KILLAGREG) |
| SRC += mm3.c mymath.c gps.c ubx.c |
| else |
| SRC += mk3mag.c |
| endif |
| ifeq ($(EXT), NAVICTRL) |
| SRC += spi.c |
| endif |
| ########################################################################################################## |
| 127,9 → 139,18 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) -DVERSION_INDEX=$(VERSION_INDEX) |
| CFLAGS += -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_COMPATIBLE=$(VERSION_COMPATIBLE) -DVERSION_INDEX=$(VERSION_INDEX) |
| ifeq ($(EXT), KILLAGREG) |
| CFLAGS += -DUSE_KILLAGREG |
| endif |
| ifeq ($(EXT), NAVICTRL) |
| CFLAGS += -DUSE_NAVICTRL |
| endif |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| /branches/V0.69k Code Redesign killagreg/menu.c |
|---|
| 4,15 → 4,31 |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <inttypes.h> |
| #include "main.h" |
| #include "eeprom.h" |
| #include "timer2.h" |
| #include "fc.h" |
| #include "rc.h" |
| #include "uart.h" |
| #include "printf_P.h" |
| #include "analog.h" |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #include "ubx.h" |
| #endif |
| #include "_Settings.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 ARRAYSIZE 10 |
| uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10}; |
| #define DISPLAYBUFFSIZE 80 |
| int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
| uint8_t DispPtr = 0; |
| uint8_t RemoteButtons = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| 19,115 → 35,204 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| /************************************/ |
| /* Clear LCD Buffer */ |
| /************************************/ |
| void LCD_Clear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| uint8_t i; |
| for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| /************************************/ |
| /* Update Menu on LCD */ |
| /************************************/ |
| // Display with 20 characters in 4 lines |
| void LCD_PrintMenu(void) |
| { |
| static unsigned char MaxMenue = 11,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); RemotePollDisplayLine = -1; } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); RemotePollDisplayLine = -1;} |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
| switch(MenuePunkt) |
| { |
| case 0: |
| #ifdef USE_KILLAGREG |
| static uint8_t MaxMenuItem = 14; |
| #else |
| static uint8_t MaxMenuItem = 11; |
| #endif |
| static uint8_t MenuItem=0; |
| // if KEY1 is activated goto previous menu item |
| if(RemoteButtons & KEY1) |
| { |
| if(MenuItem) MenuItem--; |
| else MenuItem = MaxMenuItem; |
| LCD_Clear(); |
| RemotePollDisplayLine = -1; |
| } |
| // if KEY2 is activated goto next menu item |
| if(RemoteButtons & KEY2) |
| { |
| if (MenuItem == MaxMenuItem) MenuItem = 0; |
| else MenuItem++; |
| LCD_Clear(); |
| RemotePollDisplayLine = -1; |
| } |
| // if KEY1 and KEY2 is activated goto initial menu item |
| if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0; |
| // print menu item number in the upper right corner |
| if(MenuItem < 10) |
| { |
| LCD_printfxy(17,0,"[%i]",MenuItem); |
| } |
| else |
| { |
| LCD_printfxy(16,0,"[%i]",MenuItem); |
| } |
| switch(MenuItem) |
| { |
| case 0:// Version Info Menu Item |
| LCD_printfxy(0,0,"+ MikroKopter +"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a'); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX+'a'); |
| LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
| 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); |
| case 1:// Height Control Menu Item |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| { |
| LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
| LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
| LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
| LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| else |
| { |
| LCD_printfxy(0,1,"No "); |
| LCD_printfxy(0,2,"Height Control"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| case 2:// Attitude Menu Item |
| LCD_printfxy(0,0,"Attitude"); |
| LCD_printfxy(0,1,"Pitch: %5i",IntegralPitch/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
| 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 K8:%4i ",PPM_in[7],PPM_in[8]); |
| case 3:// Remote Control Channel Menu Item |
| LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
| 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 P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]); |
| case 4:// Remote Control Mapping Menu Item |
| LCD_printfxy(0,0,"Pi:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
| break; |
| case 5: |
| case 5:// Gyro Sensor Menu Item |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| if(PlatinenVersion == 10) |
| if(BoardRelease == 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); |
| LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw); |
| } |
| 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); |
| LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2); |
| } |
| break; |
| case 6: |
| case 6:// Acceleration Sensor Menu Item |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch, NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY); |
| LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| case 7:// Accumulator Voltage / Remote Control Level |
| LCD_printfxy(0,1,"Voltage: %5i",UBat); |
| LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
| 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); |
| case 8:// Compass Menu Item |
| LCD_printfxy(0,0,"Compass "); |
| LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
| LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
| LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
| 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); |
| case 9:// Poti Menu Item |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
| break; |
| case 10: |
| case 10:// Servo Menu Item |
| 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); |
| LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoPitchControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax); |
| break; |
| case 11: |
| case 11://Extern Control |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
| LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
| LCD_printfxy(0,1,"Pi:%4i Ro:%4i ",ExternControl.Pitch, ExternControl.Roll); |
| LCD_printfxy(0,2,"Th:%4i Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| #ifdef USE_KILLAGREG |
| case 12://GPS Lat/Lon coords |
| if (GPSInfo.status == INVALID) |
| { |
| LCD_printfxy(0,0,"No GPS data!"); |
| } |
| else |
| { |
| switch (GPSInfo.satfix) |
| { |
| case SATFIX_NONE: |
| LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
| break; |
| case SATFIX_2D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
| break; |
| case SATFIX_3D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
| break; |
| default: |
| LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
| break; |
| } |
| int16_t i1,i2,i3; |
| i1 = (int16_t)(GPSInfo.longitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.latitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.altitude/1000L); |
| i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
| LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2); |
| } |
| break; |
| case 13:// MM3 Kompass |
| LCD_printfxy(0,0,"MM3 Offset"); |
| LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
| LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
| LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
| break; |
| case 14://MM3 Range |
| LCD_printfxy(0,0,"MM3 Range"); |
| LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
| LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
| LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
| break; |
| #endif |
| default: MaxMenuItem = MenuItem - 1; |
| MenuItem = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| RemoteButtons = 0; |
| } |
| /branches/V0.69k Code Redesign killagreg/menu.h |
|---|
| 1,6 → 1,16 |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| extern unsigned char RemoteTasten; |
| #ifndef _MENU_H |
| #define _MENU_H |
| #include <inttypes.h> |
| #define DISPLAYBUFFSIZE 80 |
| extern void LCD_PrintMenu(void); |
| extern void LCD_Clear(void); |
| extern int8_t DisplayBuff[DISPLAYBUFFSIZE]; |
| extern uint8_t DispPtr; |
| extern uint8_t RemoteButtons; |
| #endif //_MENU_H |
| /branches/V0.69k Code Redesign killagreg/mk3mag.c |
|---|
| 0,0 → 1,88 |
| #include <avr/io.h> |
| #include <stdlib.h> |
| #include <inttypes.h> |
| #include "timer0.h" |
| #include "uart.h" |
| #include "fc.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| #include "mk3mag.h" |
| uint8_t PWMTimeout = 12; |
| ToMk3Mag_t ToMk3Mag; |
| /*********************************************/ |
| /* Initialize Interface to MK3MAG Compass */ |
| /*********************************************/ |
| void MK3MAG_Init(void) |
| { |
| // Port PC4 connected to PWM output from compass module |
| DDRC &= ~(1<<DDC4); // set as input |
| PORTC |= (1<<PORTC4); // pull up to increase PWM counter also if nothing is connected |
| PWMTimeout = 0; |
| ToMk3Mag.CalState = 0; |
| ToMk3Mag.Orientation = 1; |
| } |
| /*********************************************/ |
| /* Get PWM from MK3MAG */ |
| /*********************************************/ |
| void MK3MAG_Update(void) // called every 102.4 us by timer 0 ISR |
| { |
| static uint16_t PWMCount = 0; |
| static uint16_t BeepDelay = 0; |
| // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
| // in other words 100us/° with a +1ms offset. |
| // The signal goes low for 65ms between pulses, |
| // so the cycle time is 65mS + the pulse width. |
| // pwm is high |
| if(PINC & (1<<PINC4)) |
| { // If PWM signal is high increment PWM high counter |
| // This counter is incremented by a periode of 102.4us, |
| // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
| PWMCount++; |
| // pwm overflow? |
| if (PWMCount > 400) |
| { |
| if(PWMTimeout) PWMTimeout--; // decrement timeout |
| CompassHeading = -1; // unknown heading |
| PWMCount = 0; // reset PWM Counter |
| } |
| } |
| else // pwm is low |
| { // ignore pwm values values of 0 and higher than 37 ms |
| if((PWMCount) && (PWMCount < 362)) // 362 * 102.4us = 37.0688 ms |
| { |
| if(PWMCount <10) CompassHeading = 0; |
| else CompassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset |
| CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| // 12 * 362 counts * 102.4 us |
| } |
| else |
| { // bad pwm value (out of range or permanent low) |
| if(PWMTimeout) PWMTimeout--; // decrement timeout |
| CompassHeading = -1; // unknown heading |
| CompassOffCourse = 0; |
| } |
| PWMCount = 0; // reset pwm counter |
| } |
| if(!PWMTimeout) |
| { |
| if(CheckDelay(BeepDelay)) |
| { |
| if(!BeepTime) BeepTime = 100; // make noise with 10Hz to signal the compass problem |
| BeepDelay = SetDelay(100); |
| } |
| } |
| } |
| /branches/V0.69k Code Redesign killagreg/mk3mag.h |
|---|
| 0,0 → 1,21 |
| #ifndef _MK3MAG_H |
| #define _MK3MAG_H |
| typedef struct |
| { |
| int16_t Attitude[2]; |
| uint8_t UserParam[2]; |
| uint8_t CalState; |
| uint8_t Orientation; |
| } ToMk3Mag_t; |
| extern ToMk3Mag_t ToMk3Mag; |
| // Initialization |
| void MK3MAG_Init(void); |
| // should be called cyclic to get actual compass heading |
| void MK3MAG_Update(void); |
| #endif //_MK3MAG_H |
| /branches/V0.69k Code Redesign killagreg/mm3.c |
|---|
| 0,0 → 1,476 |
| /* |
| Copyright 2008, by Killagreg |
| This program (files mm3.c and mm3.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: The original implementation was done by Niklas Nold. |
| All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <inttypes.h> |
| #include "mm3.h" |
| #include "main.h" |
| #include "mymath.h" |
| #include "fc.h" |
| #include "timer0.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| #include "printf_P.h" |
| #define MAX_AXIS_VALUE 500 |
| typedef struct |
| { |
| uint8_t STATE; |
| uint16_t DRDY; |
| uint8_t AXIS; |
| int16_t x_axis; |
| int16_t y_axis; |
| int16_t z_axis; |
| } MM3_working_t; |
| // MM3 State Machine |
| #define MM3_STATE_RESET 0 |
| #define MM3_STATE_START_TRANSFER 1 |
| #define MM3_STATE_WAIT_DRDY 2 |
| #define MM3_STATE_DRDY 3 |
| #define MM3_STATE_BYTE2 4 |
| #define MM3_X_AXIS 0x01 |
| #define MM3_Y_AXIS 0x02 |
| #define MM3_Z_AXIS 0x03 |
| #define MM3_PERIOD_32 0x00 |
| #define MM3_PERIOD_64 0x10 |
| #define MM3_PERIOD_128 0x20 |
| #define MM3_PERIOD_256 0x30 |
| #define MM3_PERIOD_512 0x40 |
| #define MM3_PERIOD_1024 0x50 |
| #define MM3_PERIOD_2048 0x60 |
| #define MM3_PERIOD_4096 0x70 |
| MM3_calib_t MM3_calib; |
| volatile MM3_working_t MM3; |
| volatile uint8_t MM3_Timeout = 0; |
| /*********************************************/ |
| /* Initialize Interface to MM3 Compass */ |
| /*********************************************/ |
| void MM3_Init(void) |
| { |
| uint8_t sreg = SREG; |
| cli(); |
| // Configure Pins for SPI |
| // set SCK (PB7), MOSI (PB5) as output |
| DDRB |= (1<<DDB7)|(1<<DDB5); |
| // set MISO (PB6) as input |
| DDRB &= ~(1<<DDB6); |
| #ifdef USE_WALTER_EXT // walthers board |
| // Output Pins (J9)PC6->MM3_SS ,(J8)PB2->MM3_RESET |
| DDRB |= (1<<DDB2); |
| DDRC |= (1<<DDC6); |
| // set pins permanent to low |
| PORTB &= ~((1<<PORTB2)); |
| PORTC &= ~((1<<PORTC6)); |
| #else // killagregs board |
| // Output Pins PC4->MM3_SS ,PC5->MM3_RESET |
| DDRC |= (1<<DDC4)|(1<<DDC5); |
| // set pins permanent to low |
| PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
| #endif |
| // Initialize SPI-Interface |
| // Enable interrupt (SPIE=1) |
| // Enable SPI bus (SPE=1) |
| // MSB transmitted first (DORD = 0) |
| // Master SPI Mode (MSTR=1) |
| // Clock polarity low when idle (CPOL=0) |
| // Clock phase sample at leading edge (CPHA=0) |
| // Clock rate = SYSCLK/128 (SPI2X=0, SPR1=1, SPR0=1) 20MHz/128 = 156.25kHz |
| SPCR = (1<<SPIE)|(1<<SPE)|(0<<DORD)|(1<<MSTR)|(0<<CPOL)|(0<<CPHA)|(1<<SPR1)|(1<<SPR0); |
| SPSR &= ~(1<<SPI2X); |
| // Init Statemachine |
| MM3.AXIS = MM3_X_AXIS; |
| MM3.STATE = MM3_STATE_RESET; |
| // Read calibration from EEprom |
| MM3_calib.X_off = (int8_t)GetParamByte(PID_MM3_X_OFF); |
| MM3_calib.Y_off = (int8_t)GetParamByte(PID_MM3_Y_OFF); |
| MM3_calib.Z_off = (int8_t)GetParamByte(PID_MM3_Z_OFF); |
| MM3_calib.X_range = (int16_t)GetParamWord(PID_MM3_X_RANGE); |
| MM3_calib.Y_range = (int16_t)GetParamWord(PID_MM3_Y_RANGE); |
| MM3_calib.Z_range = (int16_t)GetParamWord(PID_MM3_Z_RANGE); |
| MM3_Timeout = 0; |
| SREG = sreg; |
| } |
| /*********************************************/ |
| /* Get Data from MM3 */ |
| /*********************************************/ |
| void MM3_Update(void) // called every 102.4 µs by timer 0 ISR |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_STATE_RESET: |
| #ifdef USE_WALTER_EXT // walthers board |
| PORTC &= ~(1<<PORTC6); // select slave |
| PORTB |= (1<<PORTB2); // PB2 to High, MM3 Reset |
| #else |
| PORTC &= ~(1<<PORTC4); // select slave |
| PORTC |= (1<<PORTC5); // PC5 to High, MM3 Reset |
| #endif |
| MM3.STATE = MM3_STATE_START_TRANSFER; |
| return; |
| case MM3_STATE_START_TRANSFER: |
| #ifdef USE_WALTER_EXT // walthers board |
| PORTB &= ~(1<<PORTB2); // PB2 auf Low (was 102.4 µs at high level) |
| #else |
| PORTC &= ~(1<<PORTC5); // PC4 auf Low (was 102.4 µs at high level) |
| #endif |
| // write to SPDR triggers automatically the transfer MOSI MISO |
| // MM3 Period, + AXIS code |
| switch(MM3.AXIS) |
| { |
| case MM3_X_AXIS: |
| SPDR = MM3_PERIOD_256 + MM3_X_AXIS; |
| break; |
| case MM3_Y_AXIS: |
| SPDR = MM3_PERIOD_256 + MM3_Y_AXIS; |
| break; |
| case MM3_Z_AXIS: |
| SPDR = MM3_PERIOD_256 + MM3_Z_AXIS; |
| break; |
| default: |
| MM3.AXIS = MM3_X_AXIS; |
| MM3.STATE = MM3_STATE_RESET; |
| return; |
| } |
| // DRDY line is not connected, therefore |
| // wait before reading data back |
| MM3.DRDY = SetDelay(8); // wait 8ms for data ready |
| MM3.STATE = MM3_STATE_WAIT_DRDY; |
| return; |
| case MM3_STATE_WAIT_DRDY: |
| if (CheckDelay(MM3.DRDY)) |
| { |
| // write something into SPDR to trigger data reading |
| SPDR = 0x00; |
| MM3.STATE = MM3_STATE_DRDY; |
| } |
| return; |
| } |
| } |
| /*********************************************/ |
| /* Interrupt SPI transfer complete */ |
| /*********************************************/ |
| ISR(SPI_STC_vect) |
| { |
| static int8_t tmp; |
| int16_t value; |
| switch (MM3.STATE) |
| { |
| // 1st byte received |
| case MM3_STATE_DRDY: |
| tmp = SPDR; // store 1st byte |
| SPDR = 0x00; // trigger transfer of 2nd byte |
| MM3.STATE = MM3_STATE_BYTE2; |
| return; |
| case MM3_STATE_BYTE2: // 2nd byte received |
| value = (int16_t)tmp; // combine the 1st and 2nd byte to a word |
| value <<= 8; // shift 1st byte to MSB-Position |
| value |= (int16_t)SPDR; // add 2nd byte |
| if(abs(value) < MAX_AXIS_VALUE) // ignore spikes |
| { |
| switch (MM3.AXIS) |
| { |
| case MM3_X_AXIS: |
| MM3.x_axis = value; |
| MM3.AXIS = MM3_Y_AXIS; |
| break; |
| case MM3_Y_AXIS: |
| MM3.y_axis = value; |
| MM3.AXIS = MM3_Z_AXIS; |
| break; |
| case MM3_Z_AXIS: |
| MM3.z_axis = value; |
| MM3.AXIS = MM3_X_AXIS; |
| break; |
| default: |
| MM3.AXIS = MM3_X_AXIS; |
| break; |
| } |
| } |
| #ifdef USE_WALTER_EXT // walthers board |
| PORTC |= (1<<PORTC6); // deselect slave |
| #else |
| PORTC |= (1<<PORTC4); // deselect slave |
| #endif |
| MM3.STATE = MM3_STATE_RESET; |
| // Update timeout is called every 102.4 µs. |
| // It takes 2 cycles to write a measurement data request for one axis and |
| // at at least 8 ms / 102.4 µs = 79 cycles to read the requested data back. |
| // I.e. 81 cycles * 102.4 µs = 8.3ms per axis. |
| // The two function accessing the MM3 Data - MM3_Calibrate() and MM3_Heading() - |
| // decremtent the MM3_Timeout every 100 ms. |
| // incrementing the counter by 1 every 8.3 ms is sufficient to avoid a timeout. |
| if ((MM3.x_axis != MM3.y_axis) || (MM3.x_axis != MM3.z_axis) || (MM3.y_axis != MM3.z_axis)) |
| { // if all axis measurements give diffrent readings the data should be valid |
| if(MM3_Timeout < 20) MM3_Timeout++; |
| } |
| else // something is very strange here |
| { |
| if(MM3_Timeout ) MM3_Timeout--; |
| } |
| return; |
| default: |
| return; |
| } |
| } |
| /*********************************************/ |
| /* Calibrate Compass */ |
| /*********************************************/ |
| void MM3_Calibrate(void) |
| { |
| static int16_t x_min, x_max, y_min, y_max, z_min, z_max; |
| switch(CompassCalState) |
| { |
| case 1: // change to x-y axis |
| x_min = 10000; |
| x_max = -10000; |
| y_min = 10000; |
| y_max = -10000; |
| z_min = 10000; |
| z_max = -10000; |
| break; |
| case 2: |
| // find Min and Max of the X- and Y-Axis |
| if(MM3.x_axis < x_min) x_min = MM3.x_axis; |
| if(MM3.x_axis > x_max) x_max = MM3.x_axis; |
| if(MM3.y_axis < y_min) y_min = MM3.y_axis; |
| if(MM3.y_axis > y_max) y_max = MM3.y_axis; |
| break; |
| case 3: |
| // change to z-Axis |
| break; |
| case 4: |
| ROT_ON; // find Min and Max of the Z-axis |
| if(MM3.z_axis < z_min) z_min = MM3.z_axis; |
| if(MM3.z_axis > z_max) z_max = MM3.z_axis; |
| break; |
| case 5: |
| // calc range of all axis |
| MM3_calib.X_range = (x_max - x_min); |
| MM3_calib.Y_range = (y_max - y_min); |
| MM3_calib.Z_range = (z_max - z_min); |
| // calc offset of all axis |
| MM3_calib.X_off = (x_max + x_min) / 2; |
| MM3_calib.Y_off = (y_max + y_min) / 2; |
| MM3_calib.Z_off = (z_max + z_min) / 2; |
| // save to EEProm |
| SetParamByte(PID_MM3_X_OFF, (uint8_t)MM3_calib.X_off); |
| SetParamByte(PID_MM3_Y_OFF, (uint8_t)MM3_calib.Y_off); |
| SetParamByte(PID_MM3_Z_OFF, (uint8_t)MM3_calib.Z_off); |
| SetParamWord(PID_MM3_X_RANGE, (uint16_t)MM3_calib.X_range); |
| SetParamWord(PID_MM3_Y_RANGE, (uint16_t)MM3_calib.Y_range); |
| SetParamWord(PID_MM3_Z_RANGE, (uint16_t)MM3_calib.Z_range); |
| CompassCalState = 0; |
| break; |
| default: |
| CompassCalState = 0; |
| break; |
| } |
| } |
| /* |
| void MM3_Calibrate(void) |
| { |
| static uint8_t debugcounter = 0; |
| int16_t x_min = 0, x_max = 0, y_min = 0, y_max = 0, z_min = 0, z_max = 0; |
| uint8_t measurement = 50, beeper = 0; |
| uint16_t timer; |
| GRN_ON; |
| ROT_OFF; |
| // get maximum and minimum reading of all axis |
| while (measurement) |
| { |
| // reset range markers if yawstick ist leftmost |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100) |
| { |
| x_min = 0; |
| x_max = 0; |
| y_min = 0; |
| y_max = 0; |
| z_min = 0; |
| z_max = 0; |
| } |
| if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
| else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
| if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
| else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
| if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
| else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
| if (!beeper) |
| { |
| ROT_FLASH; |
| GRN_FLASH; |
| BeepTime = 50; |
| beeper = 50; |
| } |
| beeper--; |
| // loop with period of 10 ms / 100 Hz |
| timer = SetDelay(10); |
| while(!CheckDelay(timer)); |
| if(debugcounter++ > 30) |
| { |
| printf("\n\rXMin:%4d, XMax:%4d, YMin:%4d, YMax:%4d, ZMin:%4d, ZMax:%4d",x_min,x_max,y_min,y_max,z_min,z_max); |
| debugcounter = 0; |
| } |
| // If thrust is less than 100, stop calibration with a delay of 0.5 seconds |
| if (PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < 100) measurement--; |
| } |
| // Rage of all axis |
| MM3_calib.X_range = (x_max - x_min); |
| MM3_calib.Y_range = (y_max - y_min); |
| MM3_calib.Z_range = (z_max - z_min); |
| // Offset of all axis |
| MM3_calib.X_off = (x_max + x_min) / 2; |
| MM3_calib.Y_off = (y_max + y_min) / 2; |
| MM3_calib.Z_off = (z_max + z_min) / 2; |
| // save to EEProm |
| SetParamByte(PID_MM3_X_OFF, (uint8_t)MM3_calib.X_off); |
| SetParamByte(PID_MM3_Y_OFF, (uint8_t)MM3_calib.Y_off); |
| SetParamByte(PID_MM3_Z_OFF, (uint8_t)MM3_calib.Z_off); |
| SetParamWord(PID_MM3_X_RANGE, (uint16_t)MM3_calib.X_range); |
| SetParamWord(PID_MM3_Y_RANGE, (uint16_t)MM3_calib.Y_range); |
| SetParamWord(PID_MM3_Z_RANGE, (uint16_t)MM3_calib.Z_range); |
| } |
| */ |
| /*********************************************/ |
| /* Calculate north direction (heading) */ |
| /*********************************************/ |
| void MM3_Heading(void) |
| { |
| int32_t sin_pitch, cos_pitch, sin_roll, cos_roll, sin_yaw, cos_yaw; |
| int32_t Hx, Hy, Hz, Hx_corr, Hy_corr; |
| int16_t angle; |
| uint16_t div_factor; |
| int16_t heading; |
| if (MM3_Timeout) |
| { |
| // Offset correction and normalization (values of H are +/- 512) |
| Hx = (((int32_t)(MM3.x_axis - MM3_calib.X_off)) * 1024) / (int32_t)MM3_calib.X_range; |
| Hy = (((int32_t)(MM3.y_axis - MM3_calib.Y_off)) * 1024) / (int32_t)MM3_calib.Y_range; |
| Hz = (((int32_t)(MM3.z_axis - MM3_calib.Z_off)) * 1024) / (int32_t)MM3_calib.Z_range; |
| // Compensate the angle of the MM3-arrow to the head of the MK by a yaw rotation transformation |
| // assuming the MM3 board is mounted parallel to the frame. |
| // User Param 4 is used to define the positive angle from the MM3-arrow to the MK heading |
| // in a top view counter clockwise direction. |
| // North is in opposite direction of the small arrow on the MM3 board. |
| // Therefore 180 deg must be added to that angle. |
| angle = ((int16_t)ParamSet.UserParam4 + 180); |
| // wrap angle to interval of 0°- 359° |
| angle += 360; |
| angle %= 360; |
| sin_yaw = (int32_t)(c_sin_8192(angle)); |
| cos_yaw = (int32_t)(c_cos_8192(angle)); |
| Hx_corr = Hx; |
| Hy_corr = Hy; |
| // rotate |
| Hx = (Hx_corr * cos_yaw - Hy_corr * sin_yaw) / 8192; |
| Hy = (Hx_corr * sin_yaw + Hy_corr * cos_yaw) / 8192; |
| // tilt compensation |
| // calibration factor for transforming Gyro Integrals to angular degrees |
| div_factor = (uint16_t)ParamSet.UserParam3 * 8; |
| // calculate sinus cosinus of pitch and tilt angle |
| angle = (IntegralPitch/div_factor); |
| sin_pitch = (int32_t)(c_sin_8192(angle)); |
| cos_pitch = (int32_t)(c_cos_8192(angle)); |
| angle = (IntegralRoll/div_factor); |
| sin_roll = (int32_t)(c_sin_8192(angle)); |
| cos_roll = (int32_t)(c_cos_8192(angle)); |
| Hx_corr = Hx * cos_pitch; |
| Hx_corr -= Hz * sin_pitch; |
| Hx_corr /= 8192; |
| Hy_corr = Hy * cos_roll; |
| Hy_corr += Hz * sin_roll; |
| Hy_corr /= 8192; |
| // calculate Heading |
| heading = c_atan2(Hy_corr, Hx_corr); |
| // atan returns angular range from -180 deg to 180 deg in counter clockwise notation |
| // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
| if (heading < 0) heading = -heading; |
| else heading = 360 - heading; |
| } |
| else // MM3_Timeout = 0 i.e now new data from external board |
| { |
| if(!BeepTime) BeepTime = 100; // make noise to signal the compass problem |
| heading = -1; |
| } |
| // update compass values in fc variables |
| CompassHeading = heading; |
| if (CompassHeading < 0) CompassOffCourse = 0; |
| else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| } |
| /branches/V0.69k Code Redesign killagreg/mm3.h |
|---|
| 0,0 → 1,29 |
| #ifndef _MM3_H |
| #define _MM3_H |
| typedef struct |
| { |
| int8_t X_off; |
| int8_t Y_off; |
| int8_t Z_off; |
| int16_t X_range; |
| int16_t Y_range; |
| int16_t Z_range; |
| } MM3_calib_t; |
| extern MM3_calib_t MM3_calib; |
| // Initialization of the MM3 communication |
| void MM3_Init(void); |
| // should be called cyclic to get actual compass axis readings |
| void MM3_Update(void); |
| // this function calibrates the MM3 |
| // and returns immediately if the communication to the MM3-Board is broken. |
| void MM3_Calibrate(void); |
| // update compass heading |
| void MM3_Heading(void); |
| #endif //_MM3_H |
| /branches/V0.69k Code Redesign killagreg/mymath.c |
|---|
| 0,0 → 1,100 |
| #include <stdlib.h> |
| #include <avr/pgmspace.h> |
| #include "mymath.h" |
| // discrete mathematics |
| // Sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
| const uint16_t pgm_sinlookup[91] PROGMEM = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192}; |
| int16_t c_sin_8192(int16_t angle) |
| { |
| int8_t m,n; |
| int16_t sinus; |
| // avoid negative angles |
| if (angle < 0) |
| { |
| m = -1; |
| angle = abs(angle); |
| } |
| else m = +1; |
| // fold angle to intervall 0 to 359 |
| angle %= 360; |
| // check quadrant |
| if (angle <= 90) n=1; // first quadrant |
| else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant |
| else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant |
| else {angle = 360 - angle; n = -1;} //fourth quadrant |
| // get lookup value |
| sinus = pgm_read_word(&pgm_sinlookup[angle]); |
| // calculate sinus value |
| return (sinus * m * n); |
| } |
| // Cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
| int16_t c_cos_8192(int16_t angle) |
| { |
| return (c_sin_8192(90 - angle)); |
| } |
| // Arcustangens returns degree in a range of +/. 180 deg |
| const uint8_t pgm_atanlookup[346] PROGMEM = {0,1,2,3,4,4,5,6,7,8,9,10,11,11,12,13,14,15,16,17,17,18,19,20,21,21,22,23,24,24,25,26,27,27,28,29,29,30,31,31,32,33,33,34,35,35,36,36,37,37,38,39,39,40,40,41,41,42,42,43,43,44,44,45,45,45,46,46,47,47,48,48,48,49,49,50,50,50,51,51,51,52,52,52,53,53,53,54,54,54,55,55,55,55,56,56,56,57,57,57,57,58,58,58,58,59,59,59,59,60,60,60,60,60,61,61,61,61,62,62,62,62,62,63,63,63,63,63,63,64,64,64,64,64,64,65,65,65,65,65,65,66,66,66,66,66,66,66,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
| int16_t c_atan2(int16_t y, int16_t x) |
| { |
| int16_t index, angle; |
| int8_t m; |
| if (!x && !y) return 0; //atan2(0, 0) is undefined |
| if (y < 0) m = -1; |
| else m = 1; |
| if (!x) return (90 * m); // atan2(y,0) = +/- 90 deg |
| index = (int16_t)(((int32_t)y * 64) / x);// calculate index for lookup table |
| if (index < 0) index = -index; |
| if (index < 346) angle = pgm_read_byte(&pgm_atanlookup[index]); // lookup for 0 deg to 79 deg |
| else if (index > 7334) angle = 90; // limit is 90 deg |
| else if (index > 2444) angle = 89; // 89 deg to 80 deg is mapped via intervalls |
| else if (index > 1465) angle = 88; |
| else if (index > 1046) angle = 87; |
| else if (index > 813) angle = 86; |
| else if (index > 664) angle = 85; |
| else if (index > 561) angle = 84; |
| else if (index > 486) angle = 83; |
| else if (index > 428) angle = 82; |
| else if (index > 382) angle = 81; |
| else angle = 80; // (index>345) |
| if (x > 0) return (angle * m); // 1st and 4th quadrant |
| else if ((x < 0) && (m > 0)) return (180 - angle); // 2nd quadrant |
| else return (angle - 180); // ( (x < 0) && (y < 0)) 3rd quadrant |
| } |
| // integer square root |
| uint32_t c_sqrt(uint32_t number) |
| { |
| if(!number) return 0; |
| uint32_t s1, s2; |
| uint8_t iter = 0; |
| // initialization of iteration |
| s2 = number; |
| do // iterative formula to solve x^2 - n = 0 |
| { |
| s1 = s2; |
| s2 = number / s1; |
| s2 += s1; |
| s2 /= 2; |
| iter++; |
| //if(iter > 40) break; |
| }while( ( (s1-s2) > 1) && (iter < 40)); |
| return s2; |
| } |
| /branches/V0.69k Code Redesign killagreg/mymath.h |
|---|
| 0,0 → 1,11 |
| #ifndef _MYMATH_H |
| #define _MYMATH_H |
| #include <inttypes.h> |
| extern int16_t c_sin_8192(int16_t angle); |
| extern int16_t c_cos_8192(int16_t angle); |
| extern int16_t c_atan2(int16_t y, int16_t x); |
| extern uint32_t c_sqrt(uint32_t number); |
| #endif // _MYMATH_H |
| /branches/V0.69k Code Redesign killagreg/printf_P.c |
|---|
| 1,6 → 1,6 |
| // 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 |
| 86,7 → 86,10 |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| #include "old_macros.h" |
| #include "printf_P.h" |
| #include "menu.h" |
| #include "uart.h" |
| //#define LIGHTPRINTF |
| 100,22 → 103,22 |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| 169,7 → 172,7 |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| 206,7 → 209,7 |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| 290,7 → 293,7 |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| 298,7 → 301,7 |
| base = DEC; |
| goto number; |
| } else |
| /* |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| 306,10 → 309,10 |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| 357,7 → 360,7 |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| 401,7 → 404,7 |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| /branches/V0.69k Code Redesign killagreg/rc.c |
|---|
| 1,5 → 1,5 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| 8,75 → 8,170 |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #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; |
| volatile int16_t PPM_in[15]; //PPM24 supports 12 channels per frame |
| volatile int16_t PPM_diff[15]; |
| volatile uint8_t NewPpmData = 1; |
| volatile int16_t RC_Quality = 0; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| volatile uint8_t NewRCFrames = 0; |
| /***************************************************************/ |
| /* 16bit timer 1 is used to decode the PPM-Signal */ |
| /***************************************************************/ |
| void RC_Init (void) |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| uint8_t sreg = SREG; |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| // disable all interrupts before reconfiguration |
| cli(); |
| // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| DDRD &= ~(1<<DDD6); |
| PORTD |= (1<<PORTD6); |
| // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
| // set as output |
| DDRD |= (1<<DDD5)|(1<<DDD4); |
| // low level |
| PORTD &= ~((1<<PORTD5)|(1<<PORTD4)); |
| // PD3 can't be used in FC 1.1 if 2nd UART is activated |
| // because TXD1 is at that port |
| if(BoardRelease == 10) |
| { |
| DDRD |= (1<<PORTD3); |
| PORTD &= ~(1<<PORTD3); |
| } |
| // Timer/Counter1 Control Register A, B, C |
| // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
| // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
| // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
| // Enable input capture noise cancler (bit: ICNC1=1) |
| // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
| // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
| // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
| TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
| TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
| TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
| TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
| // Timer/Counter1 Interrupt Mask Register |
| // Enable Input Capture Interrupt (bit: ICIE1=1) |
| // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
| // Enable Overflow Interrupt (bit: TOIE1=0) |
| TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)); |
| TIMSK1 |= (1<<ICIE1)|(1<<TOIE1); |
| RC_Quality = 0; |
| SREG = sreg; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| // happens every 0.209712 s. |
| // check for at least one new frame per timer overflow (timeout) |
| ISR(TIMER1_OVF_vect) |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| if((signal > 1100) && (signal < 8000)) |
| if (NewRCFrames == 0) RC_Quality -= RC_Quality/8; |
| NewRCFrames = 0; |
| } |
| /********************************************************************/ |
| /* Every time a positive edge is detected at PD6 */ |
| /********************************************************************/ |
| /* t-Frame |
| <-----------------------------------------------------------------------> |
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| ___| |_| |_| |_| |_.............| |________________| |
| <-----><-------><------><--------> <------> <--- |
| t0 t1 t2 t4 tn t0 |
| The PPM-Frame length is 22.5 ms. |
| Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
| The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
| The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
| The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
| The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
| The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
| the syncronization gap. |
| */ |
| ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
| { |
| int16_t signal = 0, tmp; |
| static int16_t index; |
| static uint16_t oldICR1 = 0; |
| // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
| // at the time the edge was detected |
| // calculate the time delay to the previous event time which is stored in oldICR1 |
| // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
| // implicit handles a timer overflow 65535 -> 0 the right way. |
| signal = (uint16_t) ICR1 - oldICR1; |
| oldICR1 = ICR1; |
| //sync gap? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| // if a sync gap happens and there where at least 4 channels decoded before |
| // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
| if(index >= 4) |
| { |
| NewPpmData = 0; // Null means NewData for the first 4 channels |
| NewRCFrames++; |
| } |
| // synchronize channel index |
| index = 1; |
| } |
| else // within the PPM frame |
| { |
| if(index < 14) // PPM24 supports 12 channels |
| { |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 10) |
| // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
| // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
| if((signal > 250) && (signal < 687)) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| // tmp = (7 * (PPM_in[index]) + signal) / 8; |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| // shift signal to zero symmetric range -154 to 159 |
| signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
| // check for stable signal |
| if(abs(signal-PPM_in[index]) < 6) |
| { |
| if(RC_Quality < 200) RC_Quality +=10; |
| } |
| // calculate exponential history for signal |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| if(tmp < signal-1) tmp++; |
| // calculate signal difference on good signal level |
| if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| } |
| 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 |
| PPM_in[index] = tmp; // update channel value |
| } |
| index++; // next channel |
| // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| if(index == 5) PORTD |= (1<<PORTD5); else PORTD &= ~(1<<PORTD5); |
| if(index == 6) PORTD |= (1<<PORTD4); else PORTD &= ~(1<<PORTD4); |
| if(BoardRelease == 10) |
| { |
| if(index == 7) PORTD |= (1<<PORTD3); else PORTD &= ~(1<<PORTD3); |
| } |
| } |
| } |
| if(RC_Quality) RC_Quality--; |
| } |
| /branches/V0.69k Code Redesign killagreg/rc.h |
|---|
| 1,29 → 1,11 |
| /*####################################################################################### |
| 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 |
| #include <inttypes.h> |
| #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; |
| extern void RC_Init (void); |
| extern volatile int16_t PPM_in[15]; // the RC-Signal |
| extern volatile int16_t PPM_diff[15]; // the differentiated RC-Signal |
| extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame |
| extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
| #endif //_RC_H |
| /branches/V0.69k Code Redesign killagreg/spi.c |
|---|
| 1,251 → 1,313 |
| // ######################## SPI - FlightCtrl ################### |
| #include "main.h" |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <string.h> |
| #include <stdlib.h> |
| #include "_Settings.h" |
| #include "spi.h" |
| #include "fc.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| #include "uart.h" |
| #include "timer0.h" |
| #define SPI_TXSYNCBYTE1 0xAA |
| #define SPI_TXSYNCBYTE2 0x83 |
| #define SPI_RXSYNCBYTE1 0x81 |
| #define SPI_RXSYNCBYTE2 0x55 |
| //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
| //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
| struct str_ToNaviCtrl ToNaviCtrl; |
| struct str_FromNaviCtrl FromNaviCtrl; |
| typedef enum |
| { |
| SPI_SYNC1, |
| SPI_SYNC2, |
| SPI_DATA |
| } SPI_RXState_t; |
| unsigned char SPI_BufferIndex; |
| unsigned char SPI_RxBufferIndex; |
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *SPI_TX_Buffer; |
| // data exchange packets to and From NaviCtrl |
| ToNaviCtrl_t ToNaviCtrl; |
| FromNaviCtrl_t FromNaviCtrl; |
| unsigned char SPITransferCompleted, SPI_ChkSum; |
| unsigned char SPI_RxDataValid; |
| // rx packet buffer |
| #define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
| uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
| uint8_t SPI_RxBufferIndex = 0; |
| uint8_t SPI_RxBuffer_Request = 0; |
| unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
| unsigned char SPI_CommandCounter = 0; |
| // tx packet buffer |
| #define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
| uint8_t *SPI_TxBuffer; |
| uint8_t SPI_TxBufferIndex = 0; |
| uint8_t SPITransferCompleted, SPI_ChkSum; |
| uint8_t SPI_RxDataValid; |
| uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_CAL_COMPASS }; |
| uint8_t SPI_CommandCounter = 0; |
| #ifdef USE_SPI_COMMUNICATION |
| //------------------------------------------------------ |
| /*********************************************/ |
| /* Initialize SPI interface to NaviCtrl */ |
| /*********************************************/ |
| 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<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| SPSR = 0;//(1<<SPI2X); |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| SPITransferCompleted = 1; |
| //SPDR = 0x00; // dummy write |
| ToNaviCtrl.Sync1 = 0xAA; |
| ToNaviCtrl.Sync2 = 0x83; |
| ToNaviCtrl.Command = SPI_CMD_USER; |
| ToNaviCtrl.IntegralNick = 0; |
| ToNaviCtrl.IntegralRoll = 0; |
| SPI_RxDataValid = 0; |
| DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
| SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| SPSR = 0;//(1<<SPI2X); |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
| SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
| SPITransferCompleted = 1; |
| // initialize data packet to NaviControl |
| ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
| ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
| ToNaviCtrl.Command = SPI_CMD_USER; |
| ToNaviCtrl.IntegralPitch = 0; |
| ToNaviCtrl.IntegralRoll = 0; |
| SPI_RxDataValid = 0; |
| } |
| //------------------------------------------------------ |
| void SPI_StartTransmitPacket(void) |
| /**********************************************************/ |
| /* Update Data transferd by the SPI from/to NaviCtrl */ |
| /**********************************************************/ |
| void UpdateSPI_Buffer(void) |
| { |
| //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
| if (!SPITransferCompleted) return; |
| // _delay_us(30); |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| SPI_TX_Buffer = (unsigned char *) &ToNaviCtrl; |
| ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| SPITransferCompleted = 0; |
| UpdateSPI_Buffer(); // update buffer |
| int16_t tmp; |
| cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
| SPI_BufferIndex = 1; |
| //ebugOut.Analog[16]++; |
| // -- Debug-Output --- |
| //---- |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; |
| SPDR = ToNaviCtrl.Sync1; // Start transmission |
| // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| // update content of packet to NaviCtrl |
| ToNaviCtrl.IntegralPitch = (int16_t) (IntegralPitch / 108); |
| ToNaviCtrl.IntegralRoll = (int16_t) (IntegralRoll / 108); |
| ToNaviCtrl.GyroHeading = YawGyroHeading / YAW_GYRO_DEG_FACTOR; |
| ToNaviCtrl.GyroPitch = Reading_GyroPitch; |
| ToNaviCtrl.GyroRoll = Reading_GyroRoll; |
| ToNaviCtrl.GyroYaw = Reading_GyroYaw; |
| ToNaviCtrl.AccPitch = (int16_t) ACC_AMPLIFY * (NaviAccPitch / NaviCntAcc); |
| ToNaviCtrl.AccRoll = (int16_t) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
| NaviCntAcc = 0; NaviAccPitch = 0; NaviAccRoll = 0; |
| switch(ToNaviCtrl.Command) |
| { |
| case SPI_CMD_USER: |
| ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
| ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
| ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
| ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
| ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
| ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
| ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
| ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
| break; |
| case SPI_CMD_STICK: |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
| tmp = PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
| ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
| ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
| ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
| ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
| ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
| ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
| break; |
| case SPI_CMD_CAL_COMPASS: |
| if(CompassCalState > 5) |
| { |
| CompassCalState = 0; |
| ToNaviCtrl.Param.Byte[0] = 5; |
| } |
| else |
| { |
| ToNaviCtrl.Param.Byte[0] = CompassCalState; |
| } |
| break; |
| } |
| sei(); // enable all interrupts |
| // analyze content of packet from NaviCtrl if valid |
| if (SPI_RxDataValid) |
| { |
| // update gps controls |
| if(abs(FromNaviCtrl.GPS_Pitch) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
| { |
| GPS_Pitch = FromNaviCtrl.GPS_Pitch; |
| GPS_Roll = FromNaviCtrl.GPS_Roll; |
| } |
| // update compass readings |
| if(FromNaviCtrl.CompassHeading <= 360) |
| { |
| CompassHeading = FromNaviCtrl.CompassHeading; |
| } |
| if(CompassHeading < 0) CompassOffCourse = 0; |
| else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| // NaviCtrl wants to beep? |
| if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
| switch (FromNaviCtrl.Command) |
| { |
| case SPI_CMD_OSD_DATA: |
| // ToFlightCtrl.Param.Byte[0] = OsdBar; |
| // ToFlightCtrl.Param.Int[1] = Distance; |
| break; |
| case SPI_CMD_GPS_POS: |
| // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
| // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
| break; |
| case SPI_CMD_GPS_TARGET: |
| // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
| // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
| break; |
| default: |
| break; |
| } |
| } |
| else // no valid data from NaviCtrl |
| { |
| // disable GPS control |
| GPS_Pitch = 0; |
| GPS_Roll = 0; |
| } |
| } |
| //------------------------------------------------------ |
| //SIGNAL(SIG_SPI) |
| void SPI_TransmitByte(void) |
| /*********************************************/ |
| /* Start Transmission of packet to NaviCtrl */ |
| /*********************************************/ |
| void SPI_StartTransmitPacket(void) |
| { |
| static unsigned char SPI_RXState = 0; |
| unsigned char rxdata; |
| static unsigned char rxchksum; |
| if (SPITransferCompleted) return; |
| if (!(SPSR & (1 << SPIF))) return; |
| SendSPI = 4; |
| // _delay_us(30); |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| rxdata = SPDR; |
| switch ( SPI_RXState) |
| { |
| case 0: |
| SPI_RxBufferIndex = 0; |
| //DebugOut.Analog[17]++; |
| rxchksum = rxdata; |
| if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
| break; |
| case 1: |
| if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
| else SPI_RXState = 0; |
| //DebugOut.Analog[18]++; |
| break; |
| case 2: |
| SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
| //DebugOut.Analog[19]++; |
| if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
| { |
| if (rxdata == rxchksum) |
| { |
| unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| SPI_RxDataValid = 1; |
| } |
| else SPI_RxDataValid = 0; |
| SPI_RXState = 0; |
| } |
| else rxchksum += rxdata; |
| break; |
| } |
| if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
| ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
| // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
| else // transmission was completed |
| { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
| } |
| else SPITransferCompleted = 1; |
| SPI_BufferIndex++; |
| // cyclic commands |
| ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
| if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
| SPITransferCompleted = 0; // tranfer is in progress |
| UpdateSPI_Buffer(); // update data in ToNaviCtrl |
| SPI_TxBufferIndex = 1; //proceed with 2nd byte |
| // -- Debug-Output --- |
| //---- |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; // init checksum |
| SPDR = ToNaviCtrl.Sync1; // send first byte |
| } |
| } |
| //------------------------------------------------------ |
| // This is the spi data transfer between FlightCtrl and NaviCtrl |
| // Every time this routine is called within the mainloop one byte of the packet to |
| // the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| void SPI_TransmitByte(void) |
| { |
| static unsigned char i =0; |
| signed int tmp; |
| cli(); |
| ToNaviCtrl.IntegralNick = (int) (IntegralNick / 108); |
| ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / 108); |
| ToNaviCtrl.GyroCompass = ErsatzKompass / GIER_GRAD_FAKTOR; |
| ToNaviCtrl.AccNick = (int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc); |
| ToNaviCtrl.AccRoll = (int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc); |
| NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| // ToNaviCtrl.User8 = Parameter_UserParam8; |
| // ToNaviCtrl.CalState = WinkelOut.CalcState; |
| static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
| uint8_t rxdata; |
| static uint8_t rxchksum; |
| switch(ToNaviCtrl.Command) // |
| { |
| case SPI_CMD_USER: |
| ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
| ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
| ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
| ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
| ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
| ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
| ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
| break; |
| if (SPITransferCompleted) return; // return immediatly if transfer was completed |
| if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
| SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
| case SPI_CMD_STICK: |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[0] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[1] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[2] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[3] = (char) tmp; |
| ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1; |
| ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2; |
| ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
| ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
| ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay; |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| break; |
| case SPI_CMD_CAL_COMPASS: |
| if(WinkelOut.CalcState > 5) |
| { |
| WinkelOut.CalcState = 0; |
| ToNaviCtrl.Param.Byte[0] = 5; |
| } |
| else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
| break; |
| } |
| sei(); |
| if (SPI_RxDataValid) |
| { |
| if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
| { |
| GPS_Nick = FromNaviCtrl.GPS_Nick; |
| GPS_Roll = FromNaviCtrl.GPS_Roll; |
| } |
| if(FromNaviCtrl.CompassValue <= 360) KompassValue = FromNaviCtrl.CompassValue; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| if(FromNaviCtrl.BeepTime > beeptime && !WinkelOut.CalcState) beeptime = FromNaviCtrl.BeepTime; |
| switch (FromNaviCtrl.Command) |
| { |
| case SPI_CMD_OSD_DATA: |
| // ToFlightCtrl.Param.Byte[0] = OsdBar; |
| // ToFlightCtrl.Param.Int[1] = Distance; |
| break; |
| rxdata = SPDR; // save spi data register |
| case SPI_CMD_GPS_POS: |
| // ToFlightCtrl.Param.Long[0] = GPS_Data.Longitude; |
| // ToFlightCtrl.Param.Long[1] = GPS_Data.Latitude; |
| break; |
| switch (SPI_RXState) |
| { |
| case SPI_SYNC1: // first sync byte |
| SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
| rxchksum = rxdata; // initialize checksum |
| if (rxdata == SPI_RXSYNCBYTE1 ) |
| { // 1st Syncbyte found |
| SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
| } |
| break; |
| case SPI_CMD_GPS_TARGET: |
| // ToFlightCtrl.Param.Long[0] = GPS_Data.TargetLongitude; |
| // ToFlightCtrl.Param.Long[1] = GPS_Data.TargetLatitude; |
| break; |
| case SPI_SYNC2: // second sync byte |
| if (rxdata == SPI_RXSYNCBYTE2) |
| { // 2nd Syncbyte found |
| rxchksum += rxdata; // update checksum |
| SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
| } |
| else // 2nd Syncbyte not found |
| { |
| SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
| } |
| break; |
| default: |
| break; |
| } |
| } |
| else |
| { |
| // KompassValue = 0; |
| // KompassRichtung = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| case SPI_DATA: // data bytes |
| SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
| // if all bytes are received of a packet from the NaviCtrl |
| if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
| { // last byte transfered is the checksum of the packet |
| if (rxdata == rxchksum) // checksum matching? |
| { |
| // copy SPI_RxBuffer -> FromFlightCtrl |
| uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
| cli(); |
| memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
| sei(); |
| SPI_RxDataValid = 1; |
| DebugOut.Analog[18]++; |
| } |
| else |
| { // checksum does not match |
| DebugOut.Analog[17]++; |
| SPI_RxDataValid = 0; // reset valid flag |
| } |
| SPI_RXState = SPI_SYNC1; // reset state sync |
| } |
| else // not all bytes transfered |
| { |
| rxchksum += rxdata; // update checksum |
| } |
| break; |
| }// eof switch(SPI_RXState) |
| // if still some bytes left for transmission to NaviCtrl |
| if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) |
| { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
| ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
| SPI_TxBufferIndex++; |
| } |
| else |
| { |
| //Transfer of all bytes of the packet to NaviCtrl completed |
| SPITransferCompleted = 1; |
| } |
| } |
| #endif |
| #endif //USE_SPI_COMMUNICATION |
| /branches/V0.69k Code Redesign killagreg/spi.h |
|---|
| 2,9 → 2,10 |
| #ifndef _SPI_H |
| #define _SPI_H |
| #include <util/delay.h> |
| //#include <util/delay.h> |
| #include <inttypes.h> |
| #define USE_SPI_COMMUNICATION |
| #define USE_SPI_COMMUNICATION |
| #define SPI_PROTOCOL_COMP 1 |
| 13,36 → 14,36 |
| #define DD_SS PB4 |
| #define DD_SCK PB7 |
| #define DD_MOSI PB5 |
| #define DD_MISO PB6 |
| #define DD_MISO PB6 |
| // for compatibility reasons gcc3.x <-> gcc4.x |
| #ifndef SPCR |
| // for compatibility reasons gcc3.x <-> gcc4.x |
| #ifndef SPCR |
| #define SPCR SPCR0 |
| #endif |
| #ifndef SPE |
| #endif |
| #ifndef SPE |
| #define SPE SPE0 |
| #endif |
| #ifndef MSTR |
| #endif |
| #ifndef MSTR |
| #define MSTR MSTR0 |
| #endif |
| #ifndef SPR1 |
| #endif |
| #ifndef SPR1 |
| #define SPR1 SPR01 |
| #endif |
| #ifndef SPR0 |
| #endif |
| #ifndef SPR0 |
| #define SPR0 SPR00 |
| #endif |
| #ifndef SPIE |
| #endif |
| #ifndef SPIE |
| #define SPIE SPIE0 |
| #endif |
| #ifndef SPDR |
| #endif |
| #ifndef SPDR |
| #define SPDR SPDR0 |
| #endif |
| #ifndef SPIF |
| #endif |
| #ifndef SPIF |
| #define SPIF SPIF0 |
| #endif |
| #ifndef SPSR |
| #endif |
| #ifndef SPSR |
| #define SPSR SPSR0 |
| #endif |
| #endif |
| // ------------------------- |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| 53,65 → 54,69 |
| #define SPI_CMD_USER 10 |
| #define SPI_CMD_STICK 11 |
| #define SPI_CMD_CAL_COMPASS 12 |
| struct str_ToNaviCtrl |
| typedef struct |
| { |
| unsigned char Sync1, Sync2; |
| unsigned char Command; |
| signed int IntegralNick; |
| signed int IntegralRoll; |
| signed int AccNick; |
| signed int AccRoll; |
| signed int GyroCompass; |
| signed int GyroNick; |
| signed int GyroRoll; |
| signed int GyroGier; |
| union |
| { char Byte[12]; |
| int Int[6]; |
| long Long[3]; |
| float Float[3]; |
| } Param; |
| unsigned char Chksum; |
| }; |
| uint8_t Sync1; |
| uint8_t Sync2; |
| uint8_t Command; |
| int16_t IntegralPitch; |
| int16_t IntegralRoll; |
| int16_t AccPitch; |
| int16_t AccRoll; |
| int16_t GyroHeading; |
| int16_t GyroPitch; |
| int16_t GyroRoll; |
| int16_t GyroYaw; |
| union |
| { |
| int8_t sByte[12]; |
| uint8_t Byte[12]; |
| int16_t Int[6]; |
| int32_t Long[3]; |
| float Float[3]; |
| } Param; |
| uint8_t Chksum; |
| } ToNaviCtrl_t; |
| #define SPI_CMD_OSD_DATA 100 |
| #define SPI_CMD_GPS_POS 101 |
| #define SPI_CMD_GPS_TARGET 102 |
| struct str_FromNaviCtrl |
| #define SPI_CMD_GPS_TARGET 102 |
| typedef struct |
| { |
| unsigned char Command; |
| signed int GPS_Nick; |
| signed int GPS_Roll; |
| signed int GPS_Gier; |
| signed int CompassValue; |
| signed int Status; |
| unsigned char BeepTime; |
| union |
| { char Byte[12]; |
| int Int[6]; |
| long Long[3]; |
| float Float[3]; |
| } Param; |
| unsigned char Chksum; |
| }; |
| uint8_t Command; |
| int16_t GPS_Pitch; |
| int16_t GPS_Roll; |
| int16_t GPS_Yaw; |
| int16_t CompassHeading; |
| int16_t Status; |
| uint8_t BeepTime; |
| union |
| { |
| int8_t Byte[12]; |
| int16_t Int[6]; |
| int32_t Long[3]; |
| float Float[3]; |
| } Param; |
| uint8_t Chksum; |
| } FromNaviCtrl_t; |
| #ifdef USE_SPI_COMMUNICATION |
| extern struct str_ToNaviCtrl ToNaviCtrl; |
| extern struct str_FromNaviCtrl FromNaviCtrl; |
| extern ToNaviCtrl_t ToNaviCtrl; |
| extern FromNaviCtrl_t FromNaviCtrl; |
| //#define SPI_CMD_VALUE 0x03 |
| extern void SPI_MasterInit(void); |
| extern void SPI_StartTransmitPacket(void); |
| extern void UpdateSPI_Buffer(void); |
| extern void SPI_TransmitByte(void); |
| #else |
| // -------------------------------- Dummy ----------------------------------------- |
| #define SPI_MasterInit() ; |
| #define SPI_MasterInit() ; |
| #define SPI_StartTransmitPacket() ; |
| #define UpdateSPI_Buffer() ; |
| #define SPI_TransmitByte() ; |
| 118,4 → 123,4 |
| #endif |
| #endif |
| #endif //_SPI_H |
| /branches/V0.69k Code Redesign killagreg/timer0.c |
|---|
| 1,168 → 1,192 |
| #include <inttypes.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "eeprom.h" |
| #include "analog.h" |
| #include "main.h" |
| #include "fc.h" |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #endif |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| #include "mk3mag.h" |
| #endif |
| 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 char SendSPI = 0; |
| volatile uint16_t CountMilliseconds = 0; |
| volatile uint8_t UpdateMotor = 0; |
| volatile uint16_t cntKompass = 0; |
| volatile uint16_t BeepTime = 0; |
| volatile uint16_t BeepModulation = 0xFFFF; |
| unsigned int BeepMuster = 0xffff; |
| int ServoValue = 0; |
| #ifdef USE_NAVICTRL |
| volatile uint8_t SendSPI = 0; |
| #endif |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| /*****************************************************/ |
| /* Initialize Timer 0 */ |
| /*****************************************************/ |
| // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
| // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
| void TIMER0_Init(void) |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(SendSPI) SendSPI--; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| uint8_t sreg = SREG; |
| if(beeptime > 1) |
| { |
| beeptime--; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| } |
| // disable all interrupts before reconfiguration |
| cli(); |
| // configure speaker port as output |
| if(BoardRelease == 10) |
| { // Speaker at PD2 |
| DDRD |= (1<<DDD2); |
| PORTD &= ~(1<<PORTD2); |
| } |
| else |
| { // Speaker at PC7 |
| DDRC |= (1<<DDC7); |
| PORTC &= ~(1<<PORTC7); |
| } |
| if(pieper_ein) |
| { |
| if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
| else PORTC |= (1<<7); // Speaker an PORTC.7 |
| } |
| else |
| { |
| if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| else PORTC &= ~(1<<7); |
| } |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 362)) |
| { |
| cntKompass += cntKompass / 41; |
| if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| // set PB3 and PB4 as output for the PWM used as aoffset for the pressure sensor |
| DDRB |= (1<<DDB4)|(1<<DDB3); |
| PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
| if(BoardRelease == 10) |
| { |
| DDRD |= (1<<DDD2); |
| PORTD &= ~(1<<PORTD2); |
| } |
| else |
| { |
| DDRC |= (1<<DDC7); |
| PORTC &= ~(1<<PORTC7); |
| } |
| // Timer/Counter 0 Control Register A |
| // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
| // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
| // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
| TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0)); |
| TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00); |
| // Timer/Counter 0 Control Register B |
| // set clock devider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
| // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
| // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
| // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
| TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)); |
| TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00); |
| // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
| OCR0A = 0; // for PB3 |
| OCR0B = 120; // for PB4 |
| // init Timer/Counter 0 Register |
| TCNT0 = 0; |
| // Timer/Counter 0 Interrupt Mask Register |
| // enable timer overflow interrupt only |
| TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
| TIMSK0 |= (1<<TOIE0); |
| SREG = sreg; |
| } |
| void Timer_Init(void) |
| /*****************************************************/ |
| /* Interrupt Routine of Timer 0 */ |
| /*****************************************************/ |
| ISR(TIMER0_OVF_vect) // 9.765 kHz |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| static uint8_t cnt_1ms = 1,cnt = 0; |
| uint8_t Beeper_On = 0; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| #ifdef USE_NAVICTRL |
| if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
| #endif |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz) |
| CountMilliseconds++; // increment millisecond counter |
| } |
| // beeper on if duration is not over |
| if(BeepTime) |
| { |
| BeepTime--; // decrement BeepTime |
| if(BeepTime & BeepModulation) Beeper_On = 1; |
| else Beeper_On = 0; |
| } |
| else // beeper off if duration is over |
| { |
| Beeper_On = 0; |
| BeepModulation = 0xFFFF; |
| } |
| // if beeper is on |
| if(Beeper_On) |
| { |
| // set speaker port to high |
| if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
| else PORTC |= (1<<PORTC7); // Speaker at PC7 |
| } |
| else // beeper is off |
| { |
| // set speaker port to low |
| if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
| else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
| } |
| // update compass value if this option is enabled in the settings |
| if(ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) |
| { |
| #ifdef USE_KILLAGREG |
| MM3_Update(); // read out mm3 board |
| #endif |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| MK3MAG_Update(); // read out mk3mag pwm |
| #endif |
| } |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| uint16_t SetDelay (uint16_t t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| int8_t CheckDelay(uint16_t t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); // check sign bit |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| void Delay_ms(uint16_t w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| unsigned int t_stop; |
| t_stop = SetDelay(w); |
| while (!CheckDelay(t_stop)); |
| } |
| void Delay_ms_Mess(unsigned int w) |
| // ----------------------------------------------------------------------- |
| void Delay_ms_Mess(uint16_t w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)) ANALOG_ON; |
| uint16_t t_stop; |
| t_stop = SetDelay(w); |
| while (!CheckDelay(t_stop)) ADC_Enable(); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // 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; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/V0.69k Code Redesign killagreg/timer0.h |
|---|
| 1,17 → 1,21 |
| #ifndef _TIMER0_H |
| #define _TIMER0_H |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| #include <inttypes.h> |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| void Delay_ms_Mess(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile uint16_t CountMilliseconds; |
| extern volatile uint8_t UpdateMotor; |
| extern volatile uint16_t cntKompass; |
| extern volatile uint16_t BeepModulation; |
| extern volatile uint16_t BeepTime; |
| #ifdef USE_NAVICTRL |
| extern volatile uint8_t SendSPI; |
| #endif |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| extern unsigned int BeepMuster; |
| extern volatile unsigned char SendSPI; |
| extern void TIMER0_Init(void); |
| extern void Delay_ms(uint16_t w); |
| extern void Delay_ms_Mess(uint16_t w); |
| extern uint16_t SetDelay (uint16_t t); |
| extern int8_t CheckDelay (uint16_t t); |
| #endif //_TIMER0_H |
| /branches/V0.69k Code Redesign killagreg/timer2.c |
|---|
| 0,0 → 1,104 |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "fc.h" |
| #include "eeprom.h" |
| volatile int16_t ServoValue = 0; |
| /*****************************************************/ |
| /* Initialize Timer 2 */ |
| /*****************************************************/ |
| // The timer 2 is used to generate the PWM at PD7 (J7) |
| // to control a camera servo for pitch compensation. |
| void TIMER2_Init(void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| // set PD7 as output of the PWM for pitch servo |
| DDRD |=(1<<DDD7); |
| PORTD |= (1<<PORTD7); |
| // Timer/Counter 2 Control Register A |
| // Waveform Generation Mode is Fast PWM (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 1) |
| // PD7: Clear OC2B on Compare Match, set OC2B at BOTTOM, non inverting PWM (Bits: COM2A1 = 1, COM2A0 = 0) |
| // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
| TCCR2A &= ~((1<<COM2B1)|(1<<COM2B0)|(1<<COM2A0)); |
| TCCR2A |= (1<<COM2A1)|(1<<WGM21)|(1<<WGM20); |
| // Timer/Counter 2 Control Register B |
| // Set clock divider for timer 2 to SYSKLOCK/256 = 20MHz / 256 = 78.128 kHz |
| // The timer increments from 0x00 to 0xFF with an update rate of 78.128 kHz or 12.8 us |
| // hence the timer overflow interrupt frequency is 78.128 kHz / 256 = 305.176 Hz or 3.276 ms |
| // divider 256 (Bits: CS022 = 1, CS21 = 1, CS20 = 0) |
| TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS20)|(1<<WGM22)); |
| TCCR2B |= (1<<CS22)|(1<<CS21); |
| // Initialize the Output Compare Register A used for PWM generation on port PD7. |
| OCR2A = 10; //10 * 12.8us = 1.28 ms high time |
| // Initialize the Timer/Counter 2 Register |
| TCNT2 = 0; |
| // Timer/Counter 2 Interrupt Mask Register |
| // Enable timer output compare match A Interrupt only |
| TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
| TIMSK2 |= (1<<OCIE2A); |
| SREG = sreg; |
| } |
| /*****************************************************/ |
| /* Control Servo Position */ |
| /*****************************************************/ |
| ISR(TIMER2_COMPA_vect) // every OCR2A * 12.8 us (compare match) |
| { |
| static uint8_t timer = 10; |
| if(!timer--) |
| { |
| // enable PWM on PD7 in non inverting mode |
| TCCR2A &= ~(0<<COM2A0); |
| TCCR2A |= (1<<COM2A1); |
| ServoValue = FCParam.ServoPitchControl; |
| // inverting movment of servo |
| if(ParamSet.ServoPitchCompInvert & 0x01) |
| { |
| ServoValue += ((int32_t) ParamSet.ServoPitchComp * (IntegralPitch / 128)) / 512; |
| } |
| else // non inverting movement of servo |
| { |
| ServoValue -= ((int32_t) ParamSet.ServoPitchComp * (IntegralPitch / 128)) / 512; |
| } |
| // limit servo value to its parameter range definition |
| if(ServoValue < ParamSet.ServoPitchMin) |
| { |
| ServoValue = ParamSet.ServoPitchMin; |
| } |
| else if(ServoValue > ParamSet.ServoPitchMax) |
| { |
| ServoValue = ParamSet.ServoPitchMax; |
| } |
| // update PWM |
| OCR2A = ServoValue; |
| timer = ParamSet.ServoPitchRefresh; |
| } |
| else |
| { |
| // disable PWM at PD7 |
| TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)); |
| // set PD7 to low |
| PORTD &= ~(1<<PORTD7); |
| } |
| } |
| /branches/V0.69k Code Redesign killagreg/timer2.h |
|---|
| 0,0 → 1,12 |
| #ifndef _TIMER2_H |
| #define _TIMER2_H |
| #include <inttypes.h> |
| extern volatile int16_t ServoValue; |
| extern void TIMER2_Init(void); |
| #endif //_TIMER2_H |
| /branches/V0.69k Code Redesign killagreg/twimaster.c |
|---|
| 1,152 → 1,184 |
| /*############################################################################ |
| ############################################################################*/ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "main.h" |
| #include "twimaster.h" |
| #include "fc.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| volatile uint8_t twi_state = 0; |
| volatile uint8_t motor = 0; |
| volatile uint8_t motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| /**************************************************/ |
| /* Initialize I2C (TWI) */ |
| /**************************************************/ |
| void I2C_Init(void) |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| uint8_t sreg = SREG; |
| cli(); |
| // SDA is INPUT |
| DDRC &= ~(1<<DDC1); |
| // SCL is output |
| DDRC |= (1<<DDC0); |
| // pull up SDA |
| PORTC |= (1<<PORTC0)|(1<<PORTC1); |
| // TWI Status Register |
| // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
| TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
| // set TWI Bit Rate Register |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| SREG = sreg; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| /****************************************/ |
| /* Start I2C */ |
| /****************************************/ |
| void I2C_Start(void) |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| // TWI Control Register |
| // clear TWI interrupt flag (TWINT=1) |
| // disable TWI Acknowledge Bit (TWEA = 0) |
| // enable TWI START Condition Bit (TWSTA = 1), MASTER |
| // disable TWI STOP Condition Bit (TWSTO = 0) |
| // disable TWI Write Collision Flag (TWWC = 0) |
| // enable i2c (TWIE = 1) |
| // enable TWI Interrupt (TWIE = 1) |
| TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN) | (1<<TWIE); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| /****************************************/ |
| /* Stop I2C */ |
| /****************************************/ |
| void I2C_Stop(void) |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| // TWI Control Register |
| // clear TWI interrupt flag (TWINT=1) |
| // disable TWI Acknowledge Bit (TWEA = 0) |
| // diable TWI START Condition Bit (TWSTA = 1), no MASTER |
| // enable TWI STOP Condition Bit (TWSTO = 1) |
| // disable TWI Write Collision Flag (TWWC = 0) |
| // enable i2c (TWIE = 1) |
| // disable TWI Interrupt (TWIE = 0) |
| TWCR = (1<<TWINT) | (1<<TWSTO) | (1<<TWEN); |
| } |
| void i2c_reset(void) |
| //############################################################################ |
| /****************************************/ |
| /* Reset I2C */ |
| /****************************************/ |
| 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); |
| // stop i2c bus |
| I2C_Stop(); |
| twi_state = 0; |
| motor = TWDR; // ?? |
| motor = 0; |
| TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| I2C_Init(); |
| I2C_Start(); |
| I2C_WriteByte(0); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| /****************************************/ |
| /* Write to I2C */ |
| /****************************************/ |
| void I2C_WriteByte(int8_t byte) |
| { |
| // move byte to send into TWI Data Register |
| TWDR = byte; |
| // clear interrupt flag (TWINT = 1) |
| // enable i2c bus (TWEN = 1) |
| // enable intterupt (TWIW = 1) |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| /****************************************/ |
| /* Receive byte and send ACK */ |
| /****************************************/ |
| void I2C_ReceiveByte(void) |
| { |
| switch (twi_state++) |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| } |
| /****************************************/ |
| /* I2C receive last byte and send no ACK*/ |
| /****************************************/ |
| void I2C_ReceiveLastByte(void) |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| /****************************************/ |
| /* I2C ISR */ |
| /****************************************/ |
| ISR (TWI_vect) |
| { |
| static uint8_t motorread = 0; |
| switch (twi_state++) // First i2s_start from SendMotorData() |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| // Master Transmit |
| case 0: // Send SLA-W |
| I2C_WriteByte(0x52+(motor*2)); |
| break; |
| case 1: |
| case 1: // Send Data to Salve |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| I2C_WriteByte(Motor_Front); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| case 1: |
| I2C_WriteByte(Motor_Rear); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| I2C_WriteByte(Motor_Right); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| I2C_WriteByte(Motor_Left); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| case 2: // repeat case 0+1 for all Slaves |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
| break; |
| // Master Receive |
| case 3: // Send SLA-R |
| I2C_WriteByte(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; |
| } |
| //Transmit 1st byte |
| I2C_ReceiveByte(); |
| break; |
| case 5: //1 Byte vom Motor lesen |
| case 5: //Read 1st byte and transmit 2nd Byte |
| motor_rx[motorread] = TWDR; |
| I2C_ReceiveLastByte(); |
| break; |
| case 6: |
| //Read 2nd byte |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread > 3) motorread=0; |
| 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(); |
| default: |
| I2C_Stop(); |
| twi_state = 0; |
| I2CTimeout = 10; |
| twi_state = 0; |
| motor = 0; |
| } |
| TWCR |= 0x80; |
| } |
| /branches/V0.69k Code Redesign killagreg/twimaster.h |
|---|
| 1,9 → 1,10 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| +#include <inttypes.h> |
| + |
| //############################################################################ |
| // I2C Konstanten |
| @@ -18,16 +19,15 @@ |
| //############################################################################ |
| -extern unsigned char twi_state; |
| -extern unsigned char motor; |
| -extern unsigned char motorread; |
| -extern unsigned char motor_rx[8]; |
| +extern volatile uint8_t twi_state; |
| +extern volatile uint8_t motor; |
| +extern volatile uint8_t motorread; |
| +extern volatile uint8_t motor_rx[8]; |
| -void i2c_reset(void); |
| -extern void i2c_init (void); // I2C initialisieren |
| -extern char i2c_start (void); // Start I2C |
| -extern void i2c_stop (void); // Stop I2C |
| -extern char i2c_write_byte (char byte); // 1 Byte schreiben |
| -extern void i2c_reset(void); |
| +extern void I2C_Init (void); // Initialize I2C |
| +extern void I2C_Start (void); // Start I2C |
| +extern void I2C_Stop (void); // Stop I2C |
| +extern void I2C_WriteByte (int8_t byte); // Write 1 Byte |
| +extern void I2C_Reset(void); // Reset I2C |
| #endif |
| /branches/V0.69k Code Redesign killagreg/uart.c |
|---|
| 1,4 → 1,4 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| 5,60 → 5,88 |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/wdt.h> |
| #include "eeprom.h" |
| #include "main.h" |
| #include "menu.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "fc.h" |
| #include "_Settings.h" |
| #include "rc.h" |
| #ifdef USE_KILLAGREG |
| #include "ubx.h" |
| #endif |
| #if !defined(USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| #include "mk3mag.h" |
| #endif |
| 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 RemotePollDisplayLine = 0; |
| unsigned char NurKanalAnforderung = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char DubWiseKeys[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| unsigned char ConfirmFrame; |
| struct str_DebugOut DebugOut; |
| struct str_ExternControl ExternControl; |
| struct str_VersionInfo VersionInfo; |
| struct str_WinkelOut WinkelOut; |
| int Debug_Timer,Kompass_Timer; |
| const unsigned char ANALOG_TEXT[32][16] = |
| #define FALSE 0 |
| #define TRUE 1 |
| //int8_t test __attribute__ ((section (".noinit"))); |
| uint8_t RequestVerInfo = FALSE; |
| uint8_t RequestExternalControl = FALSE; |
| uint8_t RequestDisplay = FALSE; |
| uint8_t RequestDebugData = FALSE; |
| uint8_t RequestDebugLabel = 255; |
| uint8_t RequestChannelOnly = FALSE; |
| uint8_t RemotePollDisplayLine = 0; |
| volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| volatile uint8_t rxd_buffer_locked = FALSE; |
| volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
| volatile uint8_t txd_complete = TRUE; |
| volatile uint8_t ReceivedBytes = 0; |
| uint8_t PcAccess = 100; |
| uint8_t MotorTest[4] = {0,0,0,0}; |
| uint8_t DubWiseKeys[4] = {0,0,0,0}; |
| uint8_t MySlaveAddr = 0; |
| uint8_t ConfirmFrame; |
| DebugOut_t DebugOut; |
| ExternControl_t ExternControl; |
| VersionInfo_t VersionInfo; |
| int16_t Debug_Timer; |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| int16_t Compass_Timer; |
| #endif |
| const uint8_t ANALOG_LABEL[32][16] = |
| { |
| //1234567890123456 |
| "IntegralNick ", //0 |
| //1234567890123456 |
| "IntegralPitch ", //0 |
| "IntegralRoll ", |
| "AccNick ", |
| "AccPitch ", |
| "AccRoll ", |
| "GyroGier ", |
| "HoehenWert ", //5 |
| "GyroYaw ", |
| "ReadingHeight ", //5 |
| "AccZ ", |
| "Gas ", |
| "KompassValue ", |
| "Spannung ", |
| "Empfang ", //10 |
| "Ersatzkompass ", |
| "Motor_Vorne ", |
| "Motor_Hinten ", |
| "Motor_Links ", |
| "Motor_Rechts ", //15 |
| "Thrust ", |
| "CompassHeading ", |
| "Voltage ", |
| "Receiver Level ", //10 |
| "YawGyroHeading ", |
| "Motor_Front ", |
| "Motor_Rear ", |
| "Motor_Right ", |
| "Motor_Left ", //15 |
| "Acc_Z ", |
| "Distance ", |
| "OsdBar ", |
| "MK3Mag CalState ", |
| "SPI Error ", |
| "SPI Ok ", |
| " ", |
| "Servo ", //20 |
| "Nick ", |
| "Pitch ", |
| "Roll ", |
| " ", |
| " ", |
| 67,355 → 95,422 |
| " ", |
| " ", |
| " ", |
| "GPS_Nick ", //30 |
| "GPS_Pitch ", //30 |
| "GPS_Roll " |
| }; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| /****************************************************************/ |
| /* Initialization of the USART0 */ |
| /****************************************************************/ |
| void USART0_Init (void) |
| { |
| 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; |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
| // disable all interrupts before configuration |
| cli(); |
| // disable RX-Interrupt |
| UCSR0B &= ~(1 << RXCIE0); |
| // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXCIE0); |
| // set direction of RXD0 and TXD0 pins |
| // set RXD0 (PD0) as an input pin |
| PORTD |= (1 << PORTD0); |
| DDRD &= ~(1 << DDD0); |
| // set TXD0 (PD1) as an output pin |
| PORTD |= (1 << PORTD1); |
| DDRD |= (1 << DDD1); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| // USART0 Control and Status Register A, B, C |
| // enable double speed operation in |
| UCSR0A |= (1 << U2X0); |
| // enable receiver and transmitter in |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| // set asynchronous mode |
| UCSR0C &= ~(1 << UMSEL01); |
| UCSR0C &= ~(1 << UMSEL00); |
| // no parity |
| UCSR0C &= ~(1 << UPM01); |
| UCSR0C &= ~(1 << UPM00); |
| // 1 stop bit |
| UCSR0C &= ~(1 << USBS0); |
| // 8-bit |
| UCSR0B &= ~(1 << UCSZ02); |
| UCSR0C |= (1 << UCSZ01); |
| UCSR0C |= (1 << UCSZ00); |
| // flush receive buffer |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| // enable interrupts at the end |
| // enable RX-Interrupt |
| UCSR0B |= (1 << RXCIE0); |
| // enable TX-Interrupt |
| UCSR0B |= (1 << TXCIE0); |
| rxd_buffer_locked = FALSE; |
| txd_complete = TRUE; |
| Debug_Timer = SetDelay(200); |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| Compass_Timer = SetDelay(220); |
| #endif |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| /****************************************************************/ |
| /* USART0 transmitter ISR */ |
| /****************************************************************/ |
| ISR(USART0_TX_vect) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| static uint16_t ptr_txd_buffer = 0; |
| uint8_t tmp_tx; |
| if(!txd_complete) // transmission not completed |
| { |
| ptr_txd_buffer++; // die [0] wurde schon gesendet |
| tmp_tx = txd_buffer[ptr_txd_buffer]; |
| // if terminating character or end of txd buffer was reached |
| if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| { |
| ptr_txd_buffer = 0; // reset txd pointer |
| txd_complete = 1; // stop transmission |
| } |
| UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| } |
| // transmission completed |
| else ptr_txd_buffer = 0; |
| } |
| SioTmp = UDR; |
| 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[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; |
| } |
| /****************************************************************/ |
| /* USART0 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART0_RX_vect) |
| { |
| static uint16_t crc; |
| static uint8_t ptr_rxd_buffer = 0; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| c = UDR0; // catch the received byte |
| #ifdef USE_KILLAGREG |
| // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
| // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
| #if defined (__AVR_ATmega644P__) |
| if(BoardRelease == 10) ubx_parser(c); |
| #else |
| ubx_parser(c); |
| #endif |
| #endif // USE_KILLAGREG |
| if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| // the rxd buffer is unlocked |
| if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } |
| #if 0 |
| else if (ptr_rxd_buffer == 1) // handle address |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| #endif |
| else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
| { |
| if(c != '\r') // no termination character |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| else // termination character was received |
| { |
| // the last 2 bytes are no subject for checksum calculation |
| // they are the checksum itself |
| crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| // calculate checksum from transmitted data |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| // compare checksum to transmitted checksum bytes |
| if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
| { // checksum valid |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
| } |
| else |
| { // checksum invalid |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| ptr_rxd_buffer = 0; // reset rxd buffer pointer |
| } |
| } |
| else // rxd buffer overrun |
| { |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| void AddCRC(uint16_t datalen) |
| { |
| 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]; |
| uint16_t tmpCRC = 0, i; |
| for(i = 0; i < datalen; i++) |
| { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| txd_complete = FALSE; |
| UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| uint16_t pt = 0; |
| uint8_t a,b,c; |
| uint8_t ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| txd_buffer[pt++] = '#'; // Start character |
| txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
| txd_buffer[pt++] = cmd; // Command |
| 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); |
| 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; |
| txd_buffer[pt++] = '=' + (a >> 2); |
| txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| txd_buffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); // add checksum after data block and initates the transmission |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
| { |
| 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 |
| uint8_t a,b,c,d; |
| uint8_t ptr = 0; |
| uint8_t x,y,z; |
| while(len) |
| { |
| a = rxd_buffer[ptrIn++] - '='; |
| b = rxd_buffer[ptrIn++] - '='; |
| c = rxd_buffer[ptrIn++] - '='; |
| d = rxd_buffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| 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; |
| } |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| void USART0_ProcessRxData(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| // if data in the rxd buffer are not locked immediately return |
| if(!rxd_buffer_locked) 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) |
| switch(RxdBuffer[2]) |
| { |
| case 'K':// Kompasswert |
| Decode64((unsigned char *) &tmp_int_arr1[0],sizeof(tmp_int_arr1),3,AnzahlEmpfangsBytes); |
| KompassValue = tmp_int_arr1[0]; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| uint16_t tmp_int_arr1[1]; // local int buffer |
| #endif |
| uint8_t tmp_char_arr2[2]; // local char buffer |
| switch(rxd_buffer[2]) |
| { |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| case 'K':// Compass value |
| Decode64((uint8_t *) &tmp_int_arr1[0], sizeof(tmp_int_arr1), 3, ReceivedBytes); |
| CompassHeading = tmp_int_arr1[0]; |
| CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
| break; |
| case 'a':// Texte der Analogwerte |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| DebugTextAnforderung = tmp_char_arr2[0]; |
| PcZugriff = 255; |
| #endif |
| case 'a':// Labels of the Analog Debug outputs |
| Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
| RequestDebugLabel = tmp_char_arr2[0]; |
| PcAccess = 255; |
| break; |
| case 'b': |
| Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= ExternControl.RemoteTasten; |
| ConfirmFrame = ExternControl.Frame; |
| break; |
| case 'c': |
| Decode64((unsigned char *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= ExternControl.RemoteTasten; |
| ConfirmFrame = ExternControl.Frame; |
| DebugDataAnforderung = 1; |
| PcZugriff = 255; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
| DebugDisplayAnforderung = 1; |
| case 'b': // extern control |
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes); |
| RemoteButtons |= ExternControl.RemoteButtons; |
| ConfirmFrame = ExternControl.Frame; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| PcZugriff = 255; |
| case 'c': // extern control with debug request |
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes); |
| RemoteButtons |= ExternControl.RemoteButtons; |
| ConfirmFrame = ExternControl.Frame; |
| RequestDebugData = TRUE; |
| PcAccess = 255; |
| break; |
| case 'k':// Keys von DubWise |
| Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
| case 'h':// x-1 display columns |
| Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
| RemoteButtons |= tmp_char_arr2[0]; |
| if(tmp_char_arr2[1] == 255) RequestChannelOnly = TRUE; |
| else RequestChannelOnly = FALSE; // keine Displaydaten |
| RequestDisplay = TRUE; |
| break; |
| case 't':// motor test |
| Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes); |
| PcAccess = 255; |
| break; |
| case 'k':// keys from DubWise |
| Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes); |
| ConfirmFrame = DubWiseKeys[3]; |
| PcZugriff = 255; |
| PcAccess = 255; |
| 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); |
| while(!UebertragungAbgeschlossen); |
| 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 |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| case 'v': // get version and board release |
| RequestVerInfo = TRUE; |
| break; |
| case 'g':// get external control data |
| RequestExternalControl = TRUE; |
| break; |
| case 'q':// get settings |
| Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
| while(!txd_complete); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5 |
| // load requested parameter set |
| ParamSet_ReadFromEEProm(tmp_char_arr2[0]); |
| SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
| } |
| else // send active parameter set |
| SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // save parameterset |
| Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes); |
| ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1); |
| TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| Beep(GetActiveParamSet()); |
| break; |
| } |
| // unlock the rxd buffer after processing |
| rxd_buffer_locked = FALSE; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| int16_t uart_putchar (int8_t c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| // wait until previous character was send |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| //Ausgabe des Zeichens |
| UDR = c; |
| UDR0 = 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) |
| //############################################################################ |
| //--------------------------------------------------------------------------------------------- |
| void USART0_TransmitTxData(void) |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| if(!txd_complete) return; |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| if(RequestExternalControl && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
| RequestExternalControl = FALSE; |
| } |
| //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); |
| Kompass_Timer = SetDelay(220); |
| } |
| #if !defined (USE_KILLAGREG) && !defined (USE_NAVICTRL) |
| if((CheckDelay(Compass_Timer)) && txd_complete) |
| { |
| ToMk3Mag.Attitude[0] = (int16_t) (IntegralPitch / 108); // approx. 0,1 Deg |
| ToMk3Mag.Attitude[1] = (int16_t) (IntegralRoll / 108); // approx. 0,1 Deg |
| ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
| ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
| ToMk3Mag.CalState = CompassCalState; |
| SendOutData('w',MySlaveAddr,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
| // the last state is 5 and should be send only once to avoid multiple flash writing |
| if(CompassCalState > 4) CompassCalState = 0; |
| Compass_Timer = SetDelay(99); |
| } |
| #endif |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| if((CheckDelay(Debug_Timer) || RequestDebugData) && txd_complete) |
| { |
| SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
| RequestDebugData = FALSE; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &ExternControl,sizeof(ExternControl)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| WinkelOut.Winkel[0] = (int) (IntegralNick / 108); // etwa in 0,1 Grad |
| WinkelOut.Winkel[1] = (int) (IntegralRoll / 108); // etwa in 0,1 Grad |
| WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| SendOutData('w',MeineSlaveAdresse,(unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| Kompass_Timer = SetDelay(99); |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| if(RequestDebugLabel != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
| DebugTextAnforderung = 255; |
| SendOutData('A',RequestDebugLabel + '0',(uint8_t *) ANALOG_LABEL[RequestDebugLabel],16); |
| RequestDebugLabel = 255; |
| } |
| if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz ohne CRC bestätigen |
| if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen |
| { |
| SendeBuffer[0] = '#'; |
| SendeBuffer[1] = ConfirmFrame; |
| SendeBuffer[2] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| txd_buffer[0] = '#'; |
| txd_buffer[1] = ConfirmFrame; |
| txd_buffer[2] = '\r'; |
| txd_complete = 0; |
| ConfirmFrame = 0; |
| UDR = SendeBuffer[0]; |
| UDR0 = txd_buffer[0]; |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| if(RequestDisplay && txd_complete) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
| LCD_PrintMenu(); |
| RequestDisplay = FALSE; |
| if(++RemotePollDisplayLine == 4 || RequestChannelOnly) |
| { |
| SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| RemotePollDisplayLine = -1; |
| } |
| else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
| } |
| if(RequestVerInfo && txd_complete) |
| { |
| SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo)); |
| RequestVerInfo = FALSE; |
| } |
| } |
| /branches/V0.69k Code Redesign killagreg/uart.h |
|---|
| 1,116 → 1,63 |
| #ifndef _UART_H |
| #define _UART_H |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| #define TXD_BUFFER_LEN 150 |
| #define RXD_BUFFER_LEN 150 |
| #define DUB_KEY_UP 4 |
| #define DUB_KEY_DOWN 8 |
| #define DUB_KEY_LEFT 16 |
| #define DUB_KEY_RIGHT 32 |
| #define DUB_KEY_LEFT 16 |
| #define DUB_KEY_FIRE 64 |
| void BearbeiteRxDaten(void); |
| #include <inttypes.h> |
| 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 unsigned char RemotePollDisplayLine; |
| extern int Debug_Timer,Kompass_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 void BearbeiteRxDaten(void); |
| extern unsigned char MotorTest[4]; |
| extern unsigned char DubWiseKeys[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[2]; |
| signed int Analog[32]; // Debugwerte |
| }; |
| //Baud rate of the USART |
| #define USART0_BAUD 57600 |
| extern struct str_DebugOut DebugOut; |
| struct str_WinkelOut |
| { |
| signed int Winkel[2]; |
| unsigned char UserParameter[2]; |
| unsigned char CalcState; |
| unsigned char Orientation; |
| }; |
| extern struct str_WinkelOut WinkelOut; |
| extern void USART0_Init (void); |
| extern void USART0_TransmitTxData(void); |
| extern void USART0_ProcessRxData(void); |
| extern int16_t uart_putchar(int8_t c); |
| struct str_ExternControl |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| signed char Nick; |
| signed char Roll; |
| signed char Gier; |
| unsigned char Gas; |
| signed char Hight; |
| unsigned char free; |
| unsigned char Frame; |
| unsigned char Config; |
| }; |
| extern struct str_ExternControl ExternControl; |
| extern uint8_t PcAccess; |
| extern uint8_t RemotePollDisplayLine; |
| extern uint8_t MotorTest[4]; |
| extern uint8_t DubWiseKeys[4]; |
| struct str_VersionInfo |
| typedef struct |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| uint8_t Digital[2]; |
| uint16_t Analog[32]; // Debugvalues |
| } DebugOut_t; |
| //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 |
| extern DebugOut_t DebugOut; |
| //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 |
| typedef struct |
| { |
| uint8_t Digital[2]; |
| uint8_t RemoteButtons; |
| int8_t Pitch; |
| int8_t Roll; |
| int8_t Yaw; |
| uint8_t Thrust; |
| int8_t Height; |
| uint8_t free; |
| uint8_t Frame; |
| uint8_t Config; |
| } ExternControl_t; |
| #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 |
| extern ExternControl_t ExternControl; |
| #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 |
| typedef struct |
| { |
| uint8_t Major; |
| uint8_t Minor; |
| uint8_t PCCompatible; |
| uint8_t Reserved[7]; |
| } VersionInfo_t; |
| extern VersionInfo_t VersionInfo; |
| #endif //_UART_H |
| /branches/V0.69k Code Redesign killagreg/uart1.c |
|---|
| 0,0 → 1,148 |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "main.h" |
| #include "uart1.h" |
| #include "fifo.h" |
| #ifdef USE_KILLAGREG |
| #include "ubx.h" |
| #endif |
| // FIFO-objects and buffers for input and output |
| //#define BUFSIZE_IN 0x96 |
| //volatile uint8_t inbuf[BUFSIZE_IN]; |
| //fifo_t infifo; |
| #define BUFSIZE_OUT 0x96 |
| volatile uint8_t outbuf[BUFSIZE_OUT]; |
| fifo_t outfifo; |
| /****************************************************************/ |
| /* Initialization of the USART1 */ |
| /****************************************************************/ |
| void USART1_Init (void) |
| { |
| // USART1 Control and Status Register A, B, C and baud rate register |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART1_BAUD) - 1); |
| // disable all interrupts before reconfiguration |
| cli(); |
| // disable RX-Interrupt |
| UCSR1B &= ~(1 << RXCIE1); |
| // disable TX-Interrupt |
| UCSR1B &= ~(1 << TXCIE1); |
| // disable DRE-Interrupt |
| UCSR1B &= ~(1 << UDRIE1); |
| // set direction of RXD1 and TXD1 pins |
| // set RXD1 (PD2) as an input pin |
| PORTD |= (1 << PORTD2); |
| DDRD &= ~(1 << DDD2); |
| // set TXD1 (PD3) as an output pin |
| PORTD |= (1 << PORTD3); |
| DDRD |= (1 << DDD3); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR1H = (uint8_t)(ubrr>>8); |
| UBRR1L = (uint8_t)ubrr; |
| // enable double speed operation |
| UCSR1A |= (1 << U2X1); |
| // enable receiver and transmitter |
| UCSR1B = (1 << TXEN1) | (1 << RXEN1); |
| // set asynchronous mode |
| UCSR1C &= ~(1 << UMSEL11); |
| UCSR1C &= ~(1 << UMSEL10); |
| // no parity |
| UCSR1C &= ~(1 << UPM11); |
| UCSR1C &= ~(1 << UPM10); |
| // 1 stop bit |
| UCSR1C &= ~(1 << USBS1); |
| // 8-bit |
| UCSR1B &= ~(1 << UCSZ12); |
| UCSR1C |= (1 << UCSZ11); |
| UCSR1C |= (1 << UCSZ10); |
| // flush receive buffer explicit |
| while ( UCSR1A & (1<<RXC1) ) UDR1; |
| // enable interrupts at the end |
| // enable RX-Interrupt |
| UCSR1B |= (1 << RXCIE1); |
| // enable TX-Interrupt |
| UCSR1B |= (1 << TXCIE1); |
| // enable DRE interrupt |
| //UCSR1B |= (1 << UDRIE1); |
| // restore global interrupt flags |
| SREG = sreg; |
| // inint FIFO buffer |
| //fifo_init (&infifo, inbuf, BUFSIZE_IN); |
| //fifo_init (&outfifo, outbuf, BUFSIZE_OUT); |
| } |
| /*int16_t USART1_putc (const uint8_t c) |
| { |
| int16_t ret = fifo_put (&outfifo, c); |
| // create an data register empty interrupt |
| UCSR1B |= (1 << UDRIE1); |
| return ret; |
| } |
| */ |
| /*int16_t USART1_getc_nowait () |
| { |
| return fifo_get_nowait (&infifo); |
| } |
| uint8_t USART1_getc_wait () |
| { |
| return fifo_get_wait (&infifo); |
| } |
| */ |
| /****************************************************************/ |
| /* USART1 data register empty ISR */ |
| /****************************************************************/ |
| /*ISR(USART1_UDRE_vect) |
| { |
| // Move a character from the output buffer to the data register. |
| // When the character was processed the next interrupt is generated. |
| // If the output buffer is empty the DRE-interrupt is disabled. |
| if (outfifo.count > 0) |
| UDR1 = _inline_fifo_get (&outfifo); |
| else |
| UCSR1B &= ~(1 << UDRIE1); |
| } |
| */ |
| /****************************************************************/ |
| /* USART1 transmitter ISR */ |
| /****************************************************************/ |
| /*ISR(USART1_TX_vect) |
| { |
| } |
| */ |
| /****************************************************************/ |
| /* USART1 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART1_RX_vect) |
| { |
| uint8_t c; |
| c = UDR1; // get data byte |
| #ifdef USE_KILLAGREG |
| if (BoardRelease == 11) ubx_parser(c); // and put it into the ubx protocol parser |
| #endif |
| } |
| /branches/V0.69k Code Redesign killagreg/uart1.h |
|---|
| 0,0 → 1,25 |
| #ifndef _UART1_H |
| #define _UART1_H |
| #define USART1_BAUD 57600 |
| /* |
| Initialize the USART und activate the receiver and transmitter |
| as well as the receive-interrupt. The IO-FIFOs are initialized. |
| The global interrupt-enable-flag (I-Bit in SREG) is not changed |
| */ |
| extern void USART1_Init (void); |
| /* |
| The character c is stored in the output buffer. If the character was pushed sucessfully to |
| the output buffer then the return value is 1. In case of an output buffer overflow the return value is 0. |
| The isr is activated, which will send the data from the outbut buffer to the UART. |
| */ |
| extern int USART1_putc (const uint8_t c); |
| /* |
| extern uint8_t USART1_getc_wait(void); |
| extern int16_t USART1_getc_nowait(void); |
| */ |
| #endif //_UART1_H |
| /branches/V0.69k Code Redesign killagreg/ubx.c |
|---|
| 0,0 → 1,233 |
| #include <inttypes.h> |
| #include "ubx.h" |
| #include "main.h" |
| #include <avr/io.h> |
| #include "uart.h" |
| // ubx protocol parser state machine |
| #define UBXSTATE_IDLE 0 |
| #define UBXSTATE_SYNC1 1 |
| #define UBXSTATE_SYNC2 2 |
| #define UBXSTATE_CLASS 3 |
| #define UBXSTATE_LEN1 4 |
| #define UBXSTATE_LEN2 5 |
| #define UBXSTATE_DATA 6 |
| #define UBXSTATE_CKA 7 |
| #define UBXSTATE_CKB 8 |
| // ublox protocoll identifier |
| #define UBX_CLASS_NAV 0x01 |
| #define UBX_ID_POSLLH 0x02 |
| #define UBX_ID_SOL 0x06 |
| #define UBX_ID_VELNED 0x12 |
| #define UBX_SYNC1_CHAR 0xB5 |
| #define UBX_SYNC2_CHAR 0x62 |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t Frac; // ns remainder of rounded ms above |
| int16_t week; // GPS week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| int32_t ECEF_X; // cm ECEF X coordinate |
| int32_t ECEF_Y; // cm ECEF Y coordinate |
| int32_t ECEF_Z; // cm ECEF Z coordinate |
| uint32_t PAcc; // cm 3D Position Accuracy Estimate |
| int32_t ECEFVX; // cm/s ECEF X velocity |
| int32_t ECEFVY; // cm/s ECEF Y velocity |
| int32_t ECEFVZ; // cm/s ECEF Z velocity |
| uint32_t SAcc; // cm/s Speed Accuracy Estimate |
| uint16_t PDOP; // 0.01 Position DOP |
| uint8_t res1; // reserved |
| uint8_t numSV; // Number of SVs used in navigation solution |
| uint32_t res2; // reserved |
| uint8_t Status; |
| } GPS_SOL_t; |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t LON; // 1e-07 deg Longitude |
| int32_t LAT; // 1e-07 deg Latitude |
| int32_t HEIGHT; // mm Height above Ellipsoid |
| int32_t HMSL; // mm Height above mean sea level |
| uint32_t Hacc; // mm Horizontal Accuracy Estimate |
| uint32_t Vacc; // mm Vertical Accuracy Estimate |
| uint8_t Status; |
| } GPS_POSLLH_t; |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t VEL_N; // cm/s NED north velocity |
| int32_t VEL_E; // cm/s NED east velocity |
| int32_t VEL_D; // cm/s NED down velocity |
| uint32_t Speed; // cm/s Speed (3-D) |
| uint32_t GSpeed; // cm/s Ground Speed (2-D) |
| int32_t Heading; // 1e-05 deg Heading 2-D |
| uint32_t SAcc; // cm/s Speed Accuracy Estimate |
| uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t Status; |
| } GPS_VELNED_t; |
| GPS_SOL_t GpsSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| GPS_POSLLH_t GpsPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| GPS_VELNED_t GpsVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
| GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID}; |
| volatile uint8_t GPSTimeout = 0; |
| void UpdateGPSInfo (void) |
| { |
| static uint32_t lasttime; |
| if (GpsSol.Status == VALID) // valid packet |
| { |
| GPSInfo.satfix = GpsSol.GPSfix; |
| GPSInfo.satnum = GpsSol.numSV; |
| GPSInfo.PAcc = GpsSol.PAcc; |
| GPSInfo.VAcc = GpsSol.SAcc; |
| GpsSol.Status = PROCESSED; // never update old data |
| } |
| if (GpsPosLlh.Status == VALID) // valid packet |
| { |
| GPSInfo.updatetime = GpsPosLlh.ITOW - lasttime; |
| lasttime = GpsPosLlh.ITOW; |
| GPSInfo.longitude = GpsPosLlh.LON; |
| GPSInfo.latitude = GpsPosLlh.LAT; |
| GPSInfo.altitude = GpsPosLlh.HEIGHT; |
| GpsPosLlh.Status = PROCESSED; // never update old data |
| } |
| if (GpsVelNed.Status == VALID) // valid packet |
| { |
| GPSInfo.veleast = GpsVelNed.VEL_E; |
| GPSInfo.velnorth = GpsVelNed.VEL_N; |
| GPSInfo.veltop = -GpsVelNed.VEL_D; |
| GPSInfo.velground = GpsVelNed.GSpeed; |
| GpsVelNed.Status = PROCESSED; // never update old data |
| } |
| if ((GpsSol.Status != INVALID) && (GpsPosLlh.Status != INVALID) && (GpsVelNed.Status != INVALID)) |
| { |
| GPSInfo.status = VALID; // set valid if data are updated |
| } |
| } |
| // this function should be called within the UART RX ISR |
| void ubx_parser(uint8_t c) |
| { |
| static uint8_t ubxstate = UBXSTATE_IDLE; |
| static uint8_t cka, ckb; |
| static uint16_t msglen; |
| static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
| switch(ubxstate) |
| { |
| case UBXSTATE_IDLE: // check 1st sync byte |
| if (c == UBX_SYNC1_CHAR) ubxstate = UBXSTATE_SYNC1; |
| else ubxstate = UBXSTATE_IDLE; // out of synchronization |
| break; |
| case UBXSTATE_SYNC1: // check 2nd sync byte |
| if (c == UBX_SYNC2_CHAR) ubxstate = UBXSTATE_SYNC2; |
| else ubxstate = UBXSTATE_IDLE; // out of synchronization |
| break; |
| case UBXSTATE_SYNC2: // check msg class to be NAV |
| if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS; |
| else ubxstate = UBXSTATE_IDLE; // unsupported message class |
| break; |
| case UBXSTATE_CLASS: // check message identifier |
| switch(c) |
| { |
| case UBX_ID_POSLLH: // geodetic position |
| ubxP = (int8_t *)&GpsPosLlh; // data start pointer |
| ubxEp = (int8_t *)(&GpsPosLlh + 1); // data end pointer |
| ubxSp = (int8_t *)&GpsPosLlh.Status; // status pointer |
| break; |
| case UBX_ID_SOL: // navigation solution |
| ubxP = (int8_t *)&GpsSol; // data start pointer |
| ubxEp = (int8_t *)(&GpsSol + 1); // data end pointer |
| ubxSp = (int8_t *)&GpsSol.Status; // status pointer |
| break; |
| case UBX_ID_VELNED: // velocity vector in tangent plane |
| ubxP = (int8_t *)&GpsVelNed; // data start pointer |
| ubxEp = (int8_t *)(&GpsVelNed + 1); // data end pointer |
| ubxSp = (int8_t *)&GpsVelNed.Status; // status pointer |
| break; |
| default: // unsupported identifier |
| ubxstate = UBXSTATE_IDLE; |
| break; |
| } |
| if (ubxstate != UBXSTATE_IDLE) |
| { |
| ubxstate = UBXSTATE_LEN1; |
| cka = UBX_CLASS_NAV + c; |
| ckb = UBX_CLASS_NAV + cka; |
| } |
| break; |
| case UBXSTATE_LEN1: // 1st message length byte |
| msglen = c; |
| cka += c; |
| ckb += cka; |
| ubxstate = UBXSTATE_LEN2; |
| break; |
| case UBXSTATE_LEN2: // 2nd message length byte |
| msglen += ((uint16_t)c)<<8; |
| cka += c; |
| ckb += cka; |
| // if the old data are not processed so far then break parsing now |
| // to avoid writing new data in ISR during reading by another function |
| if ( *ubxSp == VALID ) ubxstate = UBXSTATE_IDLE; |
| else // data invalid or allready processd |
| { |
| *ubxSp = INVALID; |
| ubxstate = UBXSTATE_DATA; |
| } |
| break; |
| case UBXSTATE_DATA: |
| if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left |
| cka += c; |
| ckb += cka; |
| if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
| break; |
| case UBXSTATE_CKA: |
| if (c == cka) ubxstate = UBXSTATE_CKB; |
| else |
| { |
| *ubxSp = INVALID; |
| ubxstate = UBXSTATE_IDLE; |
| } |
| break; |
| case UBXSTATE_CKB: |
| if (c == ckb) |
| { |
| *ubxSp = VALID; // new data are valid |
| ROT_FLASH; |
| UpdateGPSInfo(); //update GPS info respectively |
| GPSTimeout = 255; |
| } |
| else |
| { // if checksum not fit then set data invalid |
| *ubxSp = INVALID; |
| } |
| ubxstate = UBXSTATE_IDLE; // ready to parse new data |
| break; |
| default: // unknown ubx state |
| ubxstate = UBXSTATE_IDLE; |
| break; |
| } |
| } |
| /branches/V0.69k Code Redesign killagreg/ubx.h |
|---|
| 0,0 → 1,50 |
| #ifndef _UBX_H |
| #define _UBX_H |
| #include <inttypes.h> |
| #define INVALID 0x00 |
| #define VALID 0x01 |
| #define PROCESSED 0x02 |
| #define SATFIX_NONE 0x00 |
| #define SATFIX_DEADRECKOING 0x01 |
| #define SATFIX_2D 0x02 |
| #define SATFIX_3D 0x03 |
| #define SATFIX_GPS_DEADRECKOING 0x04 |
| #define SATFIX_TIMEONLY 0x05 |
| /* enable the UBX protocol at the gps receiver with the following messages enabled |
| 01-02 NAV - POSLLH |
| 01-06 Nav - SOL |
| 01-12 NAV - VELNED */ |
| typedef struct |
| { |
| uint8_t status; // status of data: invalid | valid |
| uint8_t satnum; // number of satelites |
| uint8_t satfix; // type of satfix |
| int32_t longitude; // in 1e-07 deg |
| int32_t latitude; // in 1e-07 deg |
| int32_t altitude; // in mm |
| uint32_t PAcc; // in cm 3d position accuracy |
| int32_t velnorth; // in cm/s |
| int32_t veleast; // in cm/s |
| int32_t veltop; // in cm/s |
| uint32_t velground; // 2D ground speed in cm/s |
| uint32_t VAcc; // in cm/s 3d velocity accuracy |
| uint32_t updatetime; // ms |
| } GPS_INFO_t; |
| //here you will find the current gps info |
| extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
| // this variable should be decremted by the application |
| extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
| // this function should be called within the UART RX ISR |
| extern void ubx_parser(uint8_t c); |
| #endif //_UBX_H |
| /branches/V0.69k Code Redesign killagreg/version.txt |
|---|
| 112,8 → 112,8 |
| V0.68c H.Buss 05.01.2008 |
| - Stickauswertung verbessert -> träger und präziser |
| - Alle Settings angepasst |
| V0.69e H.Buss 05.05.2008 |
| V0.69g H.Buss 05.05.2008 |
| - kleinere Bugs beseitigt |
| - Schneller Sinkflug jetzt möglich |
| - Min- und Maxgas in den Settings geändert |
| 125,13 → 125,37 |
| - STICK_GAIN = 4 eingeführt. Das erhöht die Auflösung der Sollwerte. Stick_P und Stick_I müssen nun um Faktor 4 erhöht werden |
| - SenderOkay auch an das Naviboard übertragen |
| - Bessere Parameter bei Senderausfall |
| V0.69j H.Buss 30.05.2008 |
| - Höhere Auflösung der Achsenkopplung |
| V0.69j H.Buss 30.05.2008 |
| - Höhere Präzision der Achsenkopplung |
| V0.69k H.Buss 31.05.2008 |
| - Bug in SPI.C behoben |
| - in 0.69h war ein Bug, der zu ungewollten Loopings führen konnte |
| Anpassungen bzgl. V0.69k |
| G.Stobrawa 01.06.2008: |
| - Code stärker modularisiert und restrukturiert |
| - viele Kommentare zur Erklärug eingefügt |
| - konsequent englische Variablennamen |
| - PPM24 Support für bis zu 12 RC-Kanäle. |
| - 2. Uart wird nun unterstützt (MCU = atmega644p im Makefile) |
| - Makefile: EXT nicht definiert Unerstützung des MK3MAG direct an FC |
| - Makefile: EXT=NAVICTRL Unterstützung der SPI Communikation zum Naviboard |
| - Makefile: EXT=KILLAGREG Unterstützung vom KillagregBoard mit MM3 und Conrad UBLOX Modul |
| - Ausertung des UBX-Pprotocols an 1. oder 2. Uart |
| - GPS-Hold-Funktion hinzugefügt |
| - GPS-Home-Funktion hinzugefügt (wird beim Motorstart gelernt, und bei Motorenstop wieder gelöscht) |
| - Poti3 steuert die GPS Funktionen (Poti3 < 70:GPS inaktiv, 70<=Poti3<160: GPS Hold, 160<=Poti3: GPS Home) |
| - LED Steuerung an J16, parametrierbar durch die User Parameter 7 & 8. UserParam7 legt die LEDOnTime in Vielfachen von 2ms fest |
| und UserParam 8 die LEDOffTime. |
| - Zusätzliche Punkte im Menü des KopterTool zur Anzeige des GPS-Status und der MM3-Kalibierparameter |