| /branches/V0.70d_flinkflash/include/Settings.h |
|---|
| --- include/_Settings.h (nonexistent) |
| +++ include/_Settings.h (revision 1025) |
| @@ -0,0 +1,44 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 12 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#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: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/V0.70d_flinkflash/include/analog.h |
|---|
| 0,0 → 1,26 |
| /*####################################################################################### |
| #######################################################################################*/ |
| 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 unsigned char AnalogOffsetNick,AnalogOffsetRoll,AnalogOffsetGier; |
| unsigned int ReadADC(unsigned char adc_input); |
| void ADC_Init(void); |
| void SucheLuftruckOffset(void); |
| void SucheGyroOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/V0.70d_flinkflash/include/fc.h |
|---|
| 0,0 → 1,172 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #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 |
| #define STICK_GAIN 4 |
| #define FLAG_MOTOR_RUN 1 |
| #define FLAG_FLY 2 |
| #define FLAG_CALIBRATE 4 |
| #define FLAG_START 8 |
| extern unsigned char MikroKopterFlags; |
| 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 int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| 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); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| extern void DefaultKonstanten(void); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| 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 83 |
| 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 |
| //---Output --------------------------------------------- |
| unsigned char J16Bitmask; // for the J16 Output |
| unsigned char J16Timing; // for the J16 Output |
| unsigned char J17Bitmask; // for the J17 Output |
| unsigned char J17Timing; // for the J17 Output |
| //---NaviCtrl--------------------------------------------- |
| unsigned char NaviGpsModeControl; // Parameters for the Naviboard |
| unsigned char NaviGpsGain; |
| unsigned char NaviGpsP; |
| unsigned char NaviGpsI; |
| unsigned char NaviGpsD; |
| unsigned char NaviGpsACC; |
| unsigned char NaviGpsMinSat; |
| unsigned char NaviStickThreshold; |
| //---Ext.Ctrl--------------------------------------------- |
| unsigned char ExternalControl; // for serial Control |
| //------------------------------------------------ |
| 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]; |
| }; |
| /* |
| 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; |
| 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; |
| extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
| extern unsigned char Parameter_J16Timing; // for the J16 Output |
| extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
| extern unsigned char Parameter_J17Timing; // for the J17 Output |
| extern unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
| extern unsigned char Parameter_NaviGpsGain; |
| extern unsigned char Parameter_NaviGpsP; |
| extern unsigned char Parameter_NaviGpsI; |
| extern unsigned char Parameter_NaviGpsD; |
| extern unsigned char Parameter_NaviGpsACC; |
| #endif //_FC_H |
| /branches/V0.70d_flinkflash/include/gps.h |
|---|
| 0,0 → 1,7 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern signed int GPS_Nick2; |
| extern signed int GPS_Roll2; |
| void GPS_Neutral(void); |
| void GPS_BerechneZielrichtung(void); |
| /branches/V0.70d_flinkflash/include/led.h |
|---|
| 0,0 → 1,11 |
| #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 void LED_Init(void); |
| extern void LED_Update(void); |
| /branches/V0.70d_flinkflash/include/main.h |
|---|
| 0,0 → 1,103 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #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 {if(PlatinenVersion < 12) PORTB &=~0x02; else PORTB |= 0x02;} |
| #define GRN_ON {if(PlatinenVersion < 12) PORTB |= 0x02; else PORTB &=~0x02;} |
| #define GRN_FLASH PORTB ^= 0x02 |
| #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 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #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 |
| #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" |
| #include "led.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/V0.70d_flinkflash/include/menu.h |
|---|
| 0,0 → 1,6 |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| extern unsigned char RemoteTasten; |
| /branches/V0.70d_flinkflash/include/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/V0.70d_flinkflash/include/rc.h |
|---|
| 0,0 → 1,29 |
| /*####################################################################################### |
| 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 |
| #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; |
| #endif //_RC_H |
| /branches/V0.70d_flinkflash/include/spi.h |
|---|
| 0,0 → 1,123 |
| // ######################## SPI - FlightCtrl ################### |
| #ifndef _SPI_H |
| #define _SPI_H |
| #include <util/delay.h> |
| #define USE_SPI_COMMUNICATION |
| #define SPI_PROTOCOL_COMP 1 |
| //----------------------------------------- |
| #define DDR_SPI DDRB |
| #define DD_SS PB4 |
| #define DD_SCK PB7 |
| #define DD_MOSI PB5 |
| #define DD_MISO PB6 |
| // for compatibility reasons gcc3.x <-> gcc4.x |
| #ifndef SPCR |
| #define SPCR SPCR0 |
| #endif |
| #ifndef SPE |
| #define SPE SPE0 |
| #endif |
| #ifndef MSTR |
| #define MSTR MSTR0 |
| #endif |
| #ifndef SPR1 |
| #define SPR1 SPR01 |
| #endif |
| #ifndef SPR0 |
| #define SPR0 SPR00 |
| #endif |
| #ifndef SPIE |
| #define SPIE SPIE0 |
| #endif |
| #ifndef SPDR |
| #define SPDR SPDR0 |
| #endif |
| #ifndef SPIF |
| #define SPIF SPIF0 |
| #endif |
| #ifndef SPSR |
| #define SPSR SPSR0 |
| #endif |
| // ------------------------- |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| #define SLAVE_SELECT_PORT PORTC |
| #define SPI_SLAVE_SELECT PC5 |
| #define SPI_CMD_USER 10 |
| #define SPI_CMD_STICK 11 |
| #define SPI_CMD_CAL_COMPASS 12 |
| #define SPI_CMD_PARAMETER1 13 |
| struct str_ToNaviCtrl |
| { |
| 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; |
| }; |
| #define SPI_CMD_OSD_DATA 100 |
| #define SPI_CMD_GPS_POS 101 |
| #define SPI_CMD_GPS_TARGET 102 |
| struct str_FromNaviCtrl |
| { |
| 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; |
| }; |
| #ifdef USE_SPI_COMMUNICATION |
| extern struct str_ToNaviCtrl ToNaviCtrl; |
| extern struct str_FromNaviCtrl FromNaviCtrl; |
| extern unsigned char SPI_CommandCounter; |
| //#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_StartTransmitPacket() ; |
| #define UpdateSPI_Buffer() ; |
| #define SPI_TransmitByte() ; |
| #endif |
| #endif |
| /branches/V0.70d_flinkflash/include/timer0.h |
|---|
| 0,0 → 1,17 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| 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 unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern unsigned int ServoValue; |
| extern unsigned int BeepMuster; |
| extern volatile unsigned char SendSPI; |
| /branches/V0.70d_flinkflash/include/twimaster.h |
|---|
| 0,0 → 1,33 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern volatile unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char 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); |
| #endif |
| /branches/V0.70d_flinkflash/include/uart.h |
|---|
| 0,0 → 1,117 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| #define DUB_KEY_UP 4 |
| #define DUB_KEY_DOWN 8 |
| #define DUB_KEY_RIGHT 32 |
| #define DUB_KEY_LEFT 16 |
| #define DUB_KEY_FIRE 64 |
| void BearbeiteRxDaten(void); |
| 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 |
| }; |
| 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; |
| 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; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Hardware; |
| unsigned char Rserved[6]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //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 |
| //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 |
| #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 |
| #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 |
| #endif //_UART_H |