| /branches/Znib/V0.80f/FlightCtrl.aps |
|---|
| 0,0 → 1,0 |
| <AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>11-Oct-2007 22:58:54</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>15-May-2007 11:20:41</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>F:\SVN\MikroKopter\FlightCtrl\branches\V0.64_ZeroWarnings\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR 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|
| /branches/Znib/V0.80f/GPS.c |
|---|
| 0,0 → 1,32 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| signed int GPS_Nick2 = 0; |
| signed int GPS_Roll2 = 0; |
| long GpsAktuell_X = 0; |
| long GpsAktuell_Y = 0; |
| long GpsZiel_X = 0; |
| long GpsZiel_Y = 0; |
| void GPS_Neutral(void) |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| } |
| void GPS_BerechneZielrichtung(void) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| /branches/Znib/V0.80f/Hex-Files/BootLoader_MEGA644P_20MHZ_V0_1.hex |
|---|
| 0,0 → 1,64 |
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| /branches/Znib/V0.80f/Hex-Files/BootLoader_MEGA644_20MHZ_V0_1.hex |
|---|
| 0,0 → 1,64 |
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| /branches/Znib/V0.80f/Hex-Files/Flight-Ctrl_MEGA1284p_V0_80f.hex |
|---|
| 0,0 → 1,3928 |
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|---|
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| :00000001FF |
| /branches/Znib/V0.80f/Hex-Files/WasIstWas.txt |
|---|
| 0,0 → 1,17 |
| +++++++++++++++++++++++++ |
| + Flight-Ctrl: |
| +++++++++++++++++++++++++ |
| BootLoader_MEGA644_20MHZ_V0_1.hex |
| Der Bootloader wird per ISP eingespielt |
| 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 |
| Achtung: Die Programme für den ATMEGA1284 dürfen ausschliesslich per Bootloader, also seriell eingespielt werden und NICHT per ISP |
| Warning: do not program the ATMEGA1284 (FC2.1) via SPI. Only use the MKUSB and the Koptertool for update! |
| /branches/Znib/V0.80f/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + 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 nichtkommerziellen 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, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung 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, |
| // + 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 |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting the sources to other systems or using the software on other systems (except 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 |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/Znib/V0.80f/Settings.h |
|---|
| --- V0.80f/Spektrum.c (nonexistent) |
| +++ V0.80f/Spektrum.c (revision 1724) |
| @@ -0,0 +1,406 @@ |
| +/*####################################################################################### |
| +Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
| +#######################################################################################*/ |
| + |
| +#include "Spektrum.h" |
| +#include "main.h" |
| +// Achtung: RECEIVER_SPEKTRUM_EXP wird in der Main.h gesetzt |
| + |
| +unsigned char SpektrumTimer = 0; |
| + |
| +#ifdef RECEIVER_SPEKTRUM_EXP |
| +unsigned char s_excnt = 0; // Counter for Spektrum-Expander |
| +unsigned char s_exparity = 0; // Parity Bit for Spektrum-Expander |
| +signed char s_exdata[11]; // Data for Spektrum-Expander |
| +#endif |
| +//--------------------------------------------------------------// |
| +//--------------------------------------------------------------// |
| +void SpektrumBinding(void) |
| +{ |
| + unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
| + unsigned char connected = 0; |
| + unsigned int delaycounter; |
| + |
| + UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
| + UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
| + PORTD &= ~(1 << PORTD2); // disable pull-up |
| + |
| + printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
| + |
| + while(!CheckDelay(timerTimeout)) |
| + { |
| + if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
| + } |
| + |
| + if (connected) |
| + { |
| + |
| + printf("ok.\n\r"); |
| + DDRD |= (1 << DDD2); // Rx as output |
| + |
| + while(!CheckDelay(timerTimeout)); // delay after startup of RX |
| + for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
| + for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
| + |
| + } |
| + else |
| + { printf("Timeout.\n\r"); |
| + |
| + |
| + } |
| + |
| + DDRD &= ~(1 << DDD2); // RX as input |
| + PORTD &= ~(1 << PORTD2); |
| + |
| + SpektrumUartInit(); // init Uart again |
| +} |
| + |
| +//############################################################################ |
| +// USART1 initialisation from killagreg |
| +void SpektrumUartInit(void) |
| +//############################################################################ |
| + { |
| + // -- Start of USART1 initialisation for Spekturm seriell-mode |
| + // 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 * 115200) - 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<<RXEN1)|(1<<TXEN1); |
| + |
| + UCSR1B = (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 RX-interrupts at the end |
| + UCSR1B |= (1 << RXCIE1); |
| + // -- End of USART1 initialisation |
| + // restore global interrupt flags |
| + |
| + SREG = sreg; |
| + return; |
| + } |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + Copyright (c) Rainer Walther |
| +// + RC-routines from original MK rc.c (c) H&I |
| +// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
| +// + only for non-profit use |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// |
| +// 20080808 rw Modified for Spektrum AR6100 (PPM) |
| +// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
| +// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
| +// Replace AR6100-coding with original composit-signal routines |
| +// |
| +// --- |
| +// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
| +// Binding is not implemented. Bind with external Receiver. |
| +// Servo output J3, J4, J5 not serviced |
| +// |
| +// Anschuß Spektrum Receiver |
| +// Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
| +// Schwarz: GND |
| +// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
| +// |
| +// --- |
| +// Satellite-Reciever connected on USART1: |
| +// |
| +// DX7/DX6i: One data-frame at 115200 baud every 22ms. |
| +// DX7se: One data-frame at 115200 baud every 11ms. |
| +// byte1: unknown |
| +// byte2: unknown |
| +// byte3: and byte4: channel data (FLT-Mode) |
| +// byte5: and byte6: channel data (Roll) |
| +// byte7: and byte8: channel data (Nick) |
| +// byte9: and byte10: channel data (Gier) |
| +// byte11: and byte12: channel data (Gear Switch) |
| +// byte13: and byte14: channel data (Gas) |
| +// byte15: and byte16: channel data (AUX2) |
| +// |
| +// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
| +// 1st Frame: |
| +// byte1: unknown |
| +// byte2: unknown |
| +// byte3: and byte4: channel data |
| +// byte5: and byte6: channel data |
| +// byte7: and byte8: channel data |
| +// byte9: and byte10: channel data |
| +// byte11: and byte12: channel data |
| +// byte13: and byte14: channel data |
| +// byte15: and byte16: channel data |
| +// 2nd Frame: |
| +// byte1: unknown |
| +// byte2: unknown |
| +// byte3: and byte4: channel data |
| +// byte5: and byte6: channel data |
| +// byte7: and byte8: 0xffff |
| +// byte9: and byte10: 0xffff |
| +// byte11: and byte12: 0xffff |
| +// byte13: and byte14: 0xffff |
| +// byte15: and byte16: 0xffff |
| +// |
| +// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
| +// |
| +// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
| +// |
| +// 0 means a '0' bit |
| +// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
| +// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
| +// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
| +// |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +#define MIN_FRAMEGAP 68 // 7ms |
| +#define MAX_BYTEGAP 3 // 310us |
| + |
| + |
| +//############################################################################ |
| +// Wird im UART-Interrupt aufgerufen |
| +//############################################################################ |
| +void SpektrumParser(unsigned char c) |
| +{ |
| + static unsigned char Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0; |
| + unsigned int Channel, index = 0; |
| + signed int signal = 0, tmp; |
| + int bCheckDelay; |
| +// c = UDR1; // get data byte |
| + if(ReSync == 1) |
| + { |
| + // wait for beginning of new frame |
| + ReSync = 0; |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + FrameCnt = 0; |
| + Sync = 0; |
| + ByteHigh = 0; |
| + } |
| + else |
| + { |
| + if(!SpektrumTimer) bCheckDelay = 1; else bCheckDelay = 0;//CheckDelay(FrameTimer); |
| + if ( Sync == 0 ) |
| + { |
| + if(bCheckDelay) |
| + { |
| + // nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
| + // Zeichen ignorieren, da Bedeutung unbekannt |
| + Sync = 1; |
| + FrameCnt ++; |
| + SpektrumTimer = MAX_BYTEGAP; |
| + } |
| + else |
| + { |
| + // Zeichen kam vor Ablauf der 7ms Sync-Pause |
| + // warten auf erstes Sync-Zeichen |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + FrameCnt = 0; |
| + Sync = 0; |
| + ByteHigh = 0; |
| + } |
| + } |
| + else if((Sync == 1) && !bCheckDelay) |
| + { |
| + // zweites Sync-Character ignorieren, Bedeutung unbekannt |
| + Sync = 2; |
| + FrameCnt ++; |
| + SpektrumTimer = MAX_BYTEGAP; |
| + } |
| + else if((Sync == 2) && !bCheckDelay) |
| + { |
| + SpektrumTimer = MAX_BYTEGAP; |
| + // Datenbyte high |
| + ByteHigh = c; |
| + if (FrameCnt == 2) |
| + { |
| + // is 1st Byte of Channel-data |
| + // Frame 1 with Channel 1-7 comming next |
| + Frame2 = 0; |
| + if(ByteHigh & 0x80) |
| + { |
| + // DS9: Frame 2 with Channel 8-9 comming next |
| + Frame2 = 1; |
| + } |
| + } |
| + Sync = 3; |
| + FrameCnt ++; |
| + } |
| + else if((Sync == 3) && !bCheckDelay) |
| + { |
| + // Datenbyte low |
| + // High-Byte for next channel comes next |
| + SpektrumTimer = MAX_BYTEGAP; |
| + Sync = 2; |
| + FrameCnt ++; |
| + Channel = ((unsigned int)ByteHigh << 8) | c; |
| + if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM) |
| + { |
| + signal = Channel & 0x3ff; |
| + signal -= 0x200; // Offset, range 0x000..0x3ff? |
| + signal = signal/3; // scaling to fit PPM resolution |
| + index = (ByteHigh >> 2) & 0x0f; |
| + } |
| + else |
| + if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_HI_RES) |
| + { |
| + signal = Channel & 0x7ff; |
| + signal -= 0x400; // Offset, range 0x000..0x7ff? |
| + signal = signal/6; // scaling to fit PPM resolution |
| + index = (ByteHigh >> 3) & 0x0f; |
| + } |
| + else |
| + //if(EE_Parameter.Receiver == RECEIVER_SPEKTRUM_LOW_RES) |
| + { |
| + signal = Channel & 0x3ff; |
| + signal -= 360; // Offset, range 0x000..0x3ff? |
| + signal = signal/2; // scaling to fit PPM resolution |
| + index = (ByteHigh >> 2) & 0x0f; |
| + } |
| + |
| + index++; |
| + if(index < 13) |
| + { |
| + // Stabiles Signal |
| +#ifdef RECEIVER_SPEKTRUM_EXP |
| + if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
| + else if (index == 4) index = 2; |
| +#endif |
| + if(abs(signal - PPM_in[index]) < 6) |
| + { |
| + if(SenderOkay < 200) SenderOkay += 10; |
| + else |
| + { |
| + SenderOkay = 200; |
| + TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
| + } |
| + } |
| + tmp = (3 * (PPM_in[index]) + signal) / 4; |
| + if(tmp > signal+1) tmp--; else |
| + if(tmp < signal-1) tmp++; |
| + |
| +#ifdef RECEIVER_SPEKTRUM_EXP |
| + if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
| + { |
| + if (signal > 100) // SYNC received |
| + { |
| + if (s_exdata[s_excnt] == 125) s_exparity = ~s_exparity; // Bit = 1 -> Re-Invert parity bit |
| + if ((s_excnt == 6 && ((s_exparity != 0 && s_exdata[s_excnt] == -125) || (s_exparity == 0 && s_exdata[s_excnt] == 125))) || (s_excnt == 9 && ((s_exparity == 0 && s_exdata[s_excnt] == -125) || (s_exparity != 0 && s_exdata[s_excnt] == 125)))) // Parity check |
| + { |
| + if (s_exdata[1] == 125 && s_exdata[2] == -125) PPM_in[5] = -125; // Reconstruct tripole Flight-Mode value (CH5) |
| + else if (s_exdata[1] == -125 && s_exdata[2] == -125) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
| + else if (s_exdata[1] == -125 && s_exdata[2] == 125) PPM_in[5] = 125; // Reconstruct tripole Flight-Mode value (CH5) |
| + PPM_in[6] = s_exdata[3]; // Elevator (CH6) |
| + PPM_in[11] = s_exdata[4]; // Aileron (CH11) |
| + PPM_in[12] = s_exdata[5]; // Rudder (CH12) |
| + |
| + if (s_excnt == 9) // New Mode (12 Channels) |
| + { |
| + if (s_exdata[7] == 125) PPM_in[8] += 5; // Hover Pitch UP (CH8) |
| + if (s_exdata[8] == 125) PPM_in[8] -= 5; // Hover Pitch DN (CH8) |
| + if (PPM_in[8] < -125) PPM_in[8] = -125; // Range-Limit |
| + else if (PPM_in[8] > 125) PPM_in[8] = 125; // Range-Limit |
| + PPM_in[10] = s_exdata[6]; // AUX2 (CH10) |
| + } |
| + } |
| + |
| + s_excnt = 0; // Reset bitcounter |
| + s_exparity = 0; // Reset parity bit |
| + } |
| + |
| + if (signal < 10) s_exdata[++s_excnt] = -125; // Bit = 0 -> value = -125 (min) |
| + if (s_excnt == 10) s_excnt = 0; // Overflow protection |
| + if (signal < -100) |
| + { |
| + s_exdata[s_excnt] = 125; // Bit = 1 -> value = 125 (max) |
| + s_exparity = ~s_exparity; // Bit = 1 -> Invert parity bit |
| + } |
| + |
| + } |
| +#endif |
| + if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| + else PPM_diff[index] = 0; |
| + |
| +#ifdef RECEIVER_SPEKTRUM_EXP |
| + if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
| + else if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
| + else if (index == 7) PPM_in[9] = signal; // Hover Throttle (CH9) |
| +#else |
| + PPM_in[index] = tmp; |
| +#endif |
| + } |
| + else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
| + } |
| + else |
| + { |
| + // hier stimmt was nicht: neu synchronisieren |
| + ReSync = 1; |
| + FrameCnt = 0; |
| + Frame2 = 0; |
| + // new frame next, nach fruehestens 7ms erwartet |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + } |
| + |
| + // 16 Bytes eingetroffen -> Komplett |
| + if(FrameCnt >= 16) |
| + { |
| + // Frame complete |
| + if(Frame2 == 0) |
| + { |
| + // Null bedeutet: Neue Daten |
| + // nur beim ersten Frame (CH 0-7) setzen |
| + if(!ReSync) NewPpmData = 0; |
| + } |
| + FrameCnt = 0; |
| + Frame2 = 0; |
| + Sync = 0; |
| + SpektrumTimer = MIN_FRAMEGAP; |
| + } |
| + } |
| +} |
| /branches/Znib/V0.80f/Spektrum.h |
|---|
| 0,0 → 1,12 |
| /*####################################################################################### |
| Dekodieren eines Spektrum Signals |
| #######################################################################################*/ |
| #ifndef _SPEKTRUM_H |
| #define _SPEKTRUM_H |
| void SpektrumUartInit(void); |
| void SpektrumBinding(void); |
| extern unsigned char SpektrumTimer; |
| extern void SpektrumParser(unsigned char c); |
| #endif //_RC_H |
| /branches/Znib/V0.80f/analog.c |
|---|
| 0,0 → 1,252 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "eeprom.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
| volatile int HiResNick = 2500, HiResRoll = 2500; |
| volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
| volatile char messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile long SummenHoehe = 0; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| signed char ExpandBaro = 0; |
| volatile int VarioMeter = 0; |
| volatile unsigned int ZaehlMessungen = 0; |
| unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
| volatile unsigned char AdReady = 1; |
| float NeutralAccZ_float; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ANALOG_ON; |
| } |
| #define DESIRED_H_ADC 800 |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| off = GetParamByte(PID_PRESSURE_OFFSET); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| ExpandBaro = 0; |
| Delay_ms_Mess(100); |
| if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < DESIRED_H_ADC) break; |
| } |
| SetParamByte(PID_PRESSURE_OFFSET, off); |
| DruckOffsetSetting = off; |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= DEFEKT_PRESSURE; |
| OCR0A = off; |
| Delay_ms_Mess(300); |
| } |
| void SucheGyroOffset(void) |
| { |
| unsigned char i, ready = 0; |
| int timeout; |
| timeout = SetDelay(2000); |
| for(i=140; i != 0; i--) |
| { |
| if(ready == 3 && i > 10) i = 9; |
| ready = 0; |
| if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
| if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
| if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
| if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 245;}; |
| if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;}; |
| if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 245;}; |
| while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
| AdReady = 0; |
| ANALOG_ON; |
| while(!AdReady); |
| if(i<10) Delay_ms_Mess(10); |
| } |
| Delay_ms_Mess(70); |
| } |
| /* |
| 0 n |
| 1 r |
| 2 g |
| 3 y |
| 4 x |
| 5 n |
| 6 r |
| 7 u |
| 8 z |
| 9 L |
| 10 n |
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| 13 y |
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| 15 n |
| 16 r |
| 17 L |
| */ |
| //####################################################################################### |
| // |
| ISR(ADC_vect) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| static signed char subcount = 0; |
| static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
| static signed int accy, accx; |
| static long tmpLuftdruck = 0; |
| static char messanzahl_Druck = 0; |
| switch(state++) |
| { |
| case 0: |
| nick1 = ADC; |
| kanal = AD_ROLL; |
| break; |
| case 1: |
| roll1 = ADC; |
| kanal = AD_GIER; |
| break; |
| case 2: |
| gier1 = ADC; |
| kanal = AD_ACC_Y; |
| break; |
| case 3: |
| Aktuell_ay = NeutralAccY - ADC; |
| accy = Aktuell_ay; |
| kanal = AD_ACC_X; |
| break; |
| case 4: |
| Aktuell_ax = ADC - NeutralAccX; |
| accx = Aktuell_ax; |
| kanal = AD_NICK; |
| break; |
| case 5: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 6: |
| roll1 += ADC; |
| kanal = AD_UBAT; |
| break; |
| case 7: |
| UBat = (3 * UBat + ADC / 3) / 4; |
| kanal = AD_ACC_Z; |
| break; |
| case 8: |
| AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| if(AdWertAccHoch > 1) |
| { |
| if(NeutralAccZ < 750) |
| { |
| subcount += 5; |
| if(modell_fliegt < 500) subcount += 10; |
| } |
| if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
| } |
| else if(AdWertAccHoch < -1) |
| { |
| if(NeutralAccZ > 550) |
| { |
| subcount -= 5; |
| if(modell_fliegt < 500) subcount -= 10; |
| if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
| } |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| kanal = AD_DRUCK; |
| break; |
| // "case 9:" fehlt hier absichtlich |
| case 10: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 11: |
| roll1 += ADC; |
| kanal = AD_GIER; |
| break; |
| case 12: |
| if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
| else |
| if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
| else AdWertGier = (ADC + gier1); |
| kanal = AD_ACC_Y; |
| break; |
| case 13: |
| Aktuell_ay = NeutralAccY - ADC; |
| AdWertAccRoll = (Aktuell_ay + accy); |
| kanal = AD_ACC_X; |
| break; |
| case 14: |
| Aktuell_ax = ADC - NeutralAccX; |
| AdWertAccNick = (Aktuell_ax + accx); |
| kanal = AD_NICK; |
| break; |
| case 15: |
| nick1 += ADC; |
| if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
| AdWertNick = nick1 / 8; |
| nick_filter = (nick_filter + nick1) / 2; |
| HiResNick = nick_filter - AdNeutralNick; |
| AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
| kanal = AD_ROLL; |
| break; |
| case 16: |
| roll1 += ADC; |
| if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
| AdWertRoll = roll1 / 8; |
| roll_filter = (roll_filter + roll1) / 2; |
| HiResRoll = roll_filter - AdNeutralRoll; |
| AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
| kanal = AD_DRUCK; |
| break; |
| case 17: |
| state = 0; |
| AdReady = 1; |
| ZaehlMessungen++; |
| // "break" fehlt hier absichtlich |
| case 9: |
| MessLuftdruck = ADC; |
| tmpLuftdruck += MessLuftdruck; |
| if(++messanzahl_Druck >= 18) |
| { |
| Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
| HoehenWert = StartLuftdruck - Luftdruck; |
| SummenHoehe -= SummenHoehe/SM_FILTER; |
| SummenHoehe += HoehenWert; |
| VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
| tmpLuftdruck /= 2; |
| messanzahl_Druck = 18/2; |
| } |
| kanal = AD_NICK; |
| break; |
| default: |
| kanal = 0; state = 0; kanal = AD_NICK; |
| break; |
| } |
| ADMUX = kanal; |
| if(state != 0) ANALOG_ON; |
| } |
| /branches/Znib/V0.80f/analog.h |
|---|
| 0,0 → 1,47 |
| #ifndef _ANALOG_H |
| #define _ANALOG_H |
| /*####################################################################################### |
| #######################################################################################*/ |
| #define SM_FILTER 16 |
| extern volatile int UBat; |
| extern volatile int AdWertNick, AdWertRoll, AdWertGier; |
| extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch; |
| extern volatile int HiResNick, HiResRoll; |
| extern volatile int AdWertNickFilter, AdWertRollFilter, AdWertGierFilter; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile long SummenHoehe; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern signed char ExpandBaro; |
| extern volatile int VarioMeter; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern volatile char MessanzahlNick; |
| extern unsigned char AnalogOffsetNick,AnalogOffsetRoll,AnalogOffsetGier; |
| extern volatile unsigned char AdReady; |
| unsigned int ReadADC(unsigned char adc_input); |
| void ADC_Init(void); |
| void SucheLuftruckOffset(void); |
| void SucheGyroOffset(void); |
| #define AD_GIER 0 |
| #define AD_ROLL 1 |
| #define AD_NICK 2 |
| #define AD_DRUCK 3 |
| #define AD_UBAT 4 |
| #define AD_ACC_Z 5 |
| #define AD_ACC_Y 6 |
| #define AD_ACC_X 7 |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| //Signle trigger Mode, Interrupt on |
| #endif //_ANALOG_H |
| /branches/Znib/V0.80f/capacity.c |
|---|
| 0,0 → 1,143 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Thanks to Marcel Haller (Lion) for the nice idea and first implementation |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + 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 |
| // + 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, |
| // + 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 |
| // + for non-commercial use (directly or indirectly) |
| // + 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 |
| // + * 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 |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "capacity.h" |
| #include "twimaster.h" |
| #include "main.h" |
| #include "timer0.h" |
| #include "analog.h" |
| #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
| #define FC_OFFSET_CURRENT 5 // calculate with a current of 0.5A |
| #define BL_OFFSET_CURRENT 2 // calculate with a current of 0.2A |
| // global varialbles |
| unsigned short update_timer = 0; |
| Capacity_t Capacity; |
| // initialize capacity calculation |
| void Capacity_Init(void) |
| { |
| Capacity.ActualCurrent = 0; |
| Capacity.UsedCapacity = 0; |
| Capacity.ActualPower = 0; |
| Capacity.MinOfMaxPWM = 0; |
| update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL); |
| } |
| // called in main loop at a regular interval |
| void Capacity_Update(void) |
| { |
| unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
| static unsigned short SubCounter = 0; |
| static unsigned short CurrentOffset = 0; |
| static unsigned long SumCurrentOffset = 0; |
| unsigned char i, NumOfMotors, MinOfMaxPWM; |
| if(CheckDelay(update_timer)) |
| { |
| update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
| // determine sum of all present BL currents and setpoints |
| Current = 0; |
| SetSum = 0; |
| NumOfMotors = 0; |
| MinOfMaxPWM = 255; |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| NumOfMotors++; |
| Current += (unsigned int)(Motor[i].Current); |
| SetSum += (unsigned int)(Motor[i].SetPoint); |
| if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM; |
| } |
| } |
| Capacity.MinOfMaxPWM = MinOfMaxPWM; |
| if(SetSum == 0) // if all setpoints are 0 |
| { // determine offsets of motor currents |
| #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
| CurrentOffset = (unsigned int)(SumCurrentOffset>>CURRENT_AVERAGE); |
| SumCurrentOffset -= CurrentOffset; |
| SumCurrentOffset += Current; |
| // after averaging set current to static offset |
| Current = FC_OFFSET_CURRENT; |
| } |
| else // some motors are running, includes also motor test condition, where "MotorRunning" is false |
| { // subtract offset |
| if(Current > CurrentOffset) Current -= CurrentOffset; |
| else Current = 0; |
| // add the FC and BL Offsets |
| Current += FC_OFFSET_CURRENT + NumOfMotors * BL_OFFSET_CURRENT; |
| } |
| // update actual Current |
| Capacity.ActualCurrent = Current; |
| // update actual Power |
| if(Current < 255) Capacity.ActualPower = (UBat * Current) / 100; // in W higher resolution |
| else Capacity.ActualPower = (UBat * (Current/4)) / 25; // in W |
| // update used capacity |
| SubCounter += Current; |
| // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
| // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
| // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
| #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
| if(SubCounter > SUB_COUNTER_LIMIT) |
| { |
| Capacity.UsedCapacity++; // we have one mAh more |
| SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
| } |
| } // EOF check delay update timer |
| } |
| /branches/Znib/V0.80f/capacity.h |
|---|
| 0,0 → 1,18 |
| #ifndef _CAPACITY_H |
| #define _CAPACITY_H |
| typedef struct |
| { |
| unsigned short ActualCurrent; // in 0.1A Steps |
| unsigned short ActualPower; // in 0.1W |
| unsigned short UsedCapacity; // in mAh |
| unsigned char MinOfMaxPWM; // BL Power Limit |
| } __attribute__((packed)) Capacity_t; |
| extern Capacity_t Capacity; |
| void Capacity_Init(void); |
| void Capacity_Update(void); |
| #endif //_CAPACITY_H |
| /branches/Znib/V0.80f/debug.c |
|---|
| 0,0 → 1,48 |
| #include "main.h" |
| #include "debug.h" |
| #ifdef DEBUG // only include functions if DEBUG is defined in main.h |
| #warning : "### DEBUG-Funktion aktiv ###" |
| unsigned char Debug_BufPtr = 0; |
| struct str_Debug tDebug; |
| unsigned char SendDebugOutput = 0; |
| // function called from _printf_P to output character |
| void Debug_Putchar(char c) |
| { |
| if (!SendDebugOutput) |
| { |
| tDebug.Text[Debug_BufPtr++] = c; // copy character to buffer |
| if (Debug_BufPtr > 30) Debug_BufPtr = 30; // avoid buffer overflow |
| } |
| } |
| void DebugSend(unsigned char cmd) |
| { |
| if (!SendDebugOutput) |
| { |
| tDebug.Cmd = cmd; |
| tDebug.Text[Debug_BufPtr] = '\0'; // end of text marker |
| Debug_BufPtr = 0; // set bufferindex to 0 |
| SendDebugOutput = 1; // set flag to trasmit data the next time in serial transmit function |
| } |
| } |
| #endif |
| /* |
| add the following code block to the serial transmit function |
| #ifdef DEBUG // only include functions if DEBUG is defined |
| if(SendDebugOutput && UebertragungAbgeschlossen) |
| { |
| SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| SendDebugOutput = 0; |
| } |
| #endif |
| */ |
| /branches/Znib/V0.80f/debug.h |
|---|
| 0,0 → 1,60 |
| #ifndef _DEBUG_H |
| #define _DEBUG_H |
| // ---------------------------------------------- |
| #define CMD_NONE 0x00 |
| #define CMD_RAW_OUTPUT 0x01 |
| #define CMD_ERROR_MSG 0x02 |
| #define CMD_WARNING_MSG 0x04 |
| #define CMD_GREEN_MSG 0x08 |
| // debug console in MK-Tool can also handle ANSI ESC seq. |
| #define ANSI_ATTRIBUTE_OFF "\033[0m" |
| #define ANSI_BOLD "\033[1m" |
| #define ANSI_UNDERSCORE "\033[4m" |
| #define ANSI_BLINK "\033[5m" |
| #define ANSI_INVERSE "\033[7m" |
| #define ANSI_INVISIBLE "\033[8m" |
| #define ANSI_COLOR_BLACK "\033[30m" |
| #define ANSI_COLOR_RED "\033[31m" |
| #define ANSI_COLOR_GREEN "\033[32m" |
| #define ANSI_COLOR_YELLOW "\033[33m" |
| #define ANSI_COLOR_BLUE "\033[34m" |
| #define ANSI_COLOR_VIOLETT "\033[35m" |
| #define ANSI_COLOR_KOBALTBLUE "\033[36m" |
| #define ANSI_COLOR_WHITE "\033[37m" |
| #define ANSI_CLEAR "\033[2J" |
| #define ANSI_HOME "\033[H" |
| // macros for easier use |
| #ifdef DEBUG // only include functions if DEBUG is defined in main.h |
| #define Debug(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_NONE); } |
| #define Debug_Raw(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_RAW_OUTPUT); } |
| #define Debug_Warning(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_WARNING_MSG); } |
| #define Debug_Error(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_ERROR_MSG); } |
| #define Debug_OK(format, args...) { _printf_P(&Debug_Putchar, PSTR(format) , ## args); DebugSend(CMD_GREEN_MSG); } |
| struct str_Debug |
| { |
| unsigned char Cmd; // bitcoded command |
| char Text[32]; |
| }; |
| extern struct str_Debug tDebug; |
| unsigned char SendDebugOutput; |
| void Debug_Putchar(char c); |
| void DebugSend(unsigned char cmd); |
| #else // dummy macros (won't waste flash, if #DEBUG is disabled) |
| #define Debug(format, args...) ; |
| #define Debug_Raw(format, args...) ; |
| #define Debug_Warning(format, args...) ; |
| #define Debug_Error(format, args...) ; |
| #define Debug_OK(format, args...) ; |
| #endif |
| // ---------------------------------------------- |
| #endif |
| /branches/Znib/V0.80f/eeprom.c |
|---|
| 0,0 → 1,715 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + 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. |
| // + 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, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + 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 |
| // + 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, |
| // + 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 |
| // + for non-commercial use (directly or indirectly) |
| // + 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 |
| // + * 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 |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Contant Values |
| // + 0-250 -> normale Values |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // + 254 -> Poti4 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #include <avr/eeprom.h> |
| #include <string.h> |
| #include "eeprom.h" |
| #include "uart.h" |
| #include "led.h" |
| #include "main.h" |
| #include "fc.h" |
| #include "twimaster.h" |
| paramset_t EE_Parameter; |
| MixerTable_t Mixer; |
| uint8_t RequiredMotors; |
| uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len) |
| { |
| uint8_t crc = 0xAA; |
| uint16_t i; |
| for(i=0; i<len; i++) |
| { |
| crc += pBuffer[i]; |
| } |
| return crc; |
| } |
| uint8_t EEProm_Checksum(uint16_t EEAddr, uint16_t len) |
| { |
| uint8_t crc = 0xAA; |
| uint16_t off; |
| for(off=0; off<len; off++) |
| { |
| crc += eeprom_read_byte((uint8_t*)(EEAddr + off));; |
| } |
| return crc; |
| } |
| void ParamSet_DefaultStickMapping(void) |
| { |
| EE_Parameter.Kanalbelegung[K_GAS] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_NICK] = 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.Kanalbelegung[K_POTI5] = 9; |
| EE_Parameter.Kanalbelegung[K_POTI6] = 10; |
| EE_Parameter.Kanalbelegung[K_POTI7] = 11; |
| EE_Parameter.Kanalbelegung[K_POTI8] = 12; |
| } |
| /***************************************************/ |
| /* Default Values for parameter set 1 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet1(void) // sport |
| { |
| EE_Parameter.Revision = EEPARAM_REVISION; |
| if(PlatinenVersion >= 20) |
| { |
| EE_Parameter.Gyro_D = 10; |
| EE_Parameter.Driftkomp = 0; |
| EE_Parameter.GyroAccFaktor = 27; |
| EE_Parameter.WinkelUmschlagNick = 78; |
| EE_Parameter.WinkelUmschlagRoll = 78; |
| } |
| else |
| { |
| EE_Parameter.Gyro_D = 3; |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.GyroAccFaktor = 30; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| } |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
| EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
| EE_Parameter.Hoehe_ACC_Wirkung = 00; // Wert : 0-247 |
| EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
| EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
| EE_Parameter.Hoehe_StickNeutralPoint = 0; // Wert : 0-247 (0 = Hover-Estimation) |
| EE_Parameter.Hoehe_Verstaerkung = 20; // Wert : 0-50 |
| EE_Parameter.Stick_P = 14; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.Gier_P = 12; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
| EE_Parameter.Gyro_P = 80; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 80; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 150; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
| EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickRefresh = 6; |
| EE_Parameter.Servo3 = 125; |
| EE_Parameter.Servo4 = 125; |
| EE_Parameter.Servo5 = 125; |
| EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 1; |
| EE_Parameter.GyroAccAbgleich = 16; // 1/k; |
| EE_Parameter.DynamicStability = 100; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.WARN_J16_Bitmask = 0xAA; |
| EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| EE_Parameter.J16Timing = 15; |
| EE_Parameter.J17Timing = 15; |
| EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
| EE_Parameter.NaviGpsGain = 100; |
| EE_Parameter.NaviGpsP = 90; |
| EE_Parameter.NaviGpsI = 90; |
| EE_Parameter.NaviGpsD = 90; |
| EE_Parameter.NaviGpsPLimit = 75; |
| EE_Parameter.NaviGpsILimit = 75; |
| EE_Parameter.NaviGpsDLimit = 75; |
| EE_Parameter.NaviGpsACC = 0; |
| EE_Parameter.NaviGpsMinSat = 6; |
| EE_Parameter.NaviStickThreshold = 8; |
| EE_Parameter.NaviWindCorrection = 90; |
| EE_Parameter.NaviSpeedCompensation = 30; |
| EE_Parameter.NaviOperatingRadius = 100; |
| EE_Parameter.NaviAngleLimitation = 100; |
| EE_Parameter.NaviPH_LoginTime = 2; |
| EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
| EE_Parameter.OrientationAngle = 0; |
| EE_Parameter.OrientationModeControl = 0; |
| memcpy(EE_Parameter.Name, "Sport\0", 12); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| /***************************************************/ |
| /* Default Values for parameter set 2 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet2(void) // normal |
| { |
| EE_Parameter.Revision = EEPARAM_REVISION; |
| if(PlatinenVersion >= 20) |
| { |
| EE_Parameter.Gyro_D = 10; |
| EE_Parameter.Driftkomp = 0; |
| EE_Parameter.GyroAccFaktor = 27; |
| EE_Parameter.WinkelUmschlagNick = 78; |
| EE_Parameter.WinkelUmschlagRoll = 78; |
| } |
| else |
| { |
| EE_Parameter.Gyro_D = 3; |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.GyroAccFaktor = 30; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| } |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// CFG_SENSITIVE_RC |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
| EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
| EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
| EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
| EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
| EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
| EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
| EE_Parameter.Stick_P = 10; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
| EE_Parameter.Gyro_P = 90; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 90; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
| EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickRefresh = 6; |
| EE_Parameter.Servo3 = 125; |
| EE_Parameter.Servo4 = 125; |
| EE_Parameter.Servo5 = 125; |
| EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 60; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.DynamicStability = 75; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.WARN_J16_Bitmask = 0xAA; |
| EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| EE_Parameter.J16Timing = 20; |
| EE_Parameter.J17Timing = 20; |
| EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
| EE_Parameter.NaviGpsGain = 100; |
| EE_Parameter.NaviGpsP = 90; |
| EE_Parameter.NaviGpsI = 90; |
| EE_Parameter.NaviGpsD = 90; |
| EE_Parameter.NaviGpsPLimit = 75; |
| EE_Parameter.NaviGpsILimit = 75; |
| EE_Parameter.NaviGpsDLimit = 75; |
| EE_Parameter.NaviGpsACC = 0; |
| EE_Parameter.NaviGpsMinSat = 6; |
| EE_Parameter.NaviStickThreshold = 8; |
| EE_Parameter.NaviWindCorrection = 90; |
| EE_Parameter.NaviSpeedCompensation = 30; |
| EE_Parameter.NaviOperatingRadius = 100; |
| EE_Parameter.NaviAngleLimitation = 100; |
| EE_Parameter.NaviPH_LoginTime = 2; |
| EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
| EE_Parameter.OrientationAngle = 0; |
| EE_Parameter.OrientationModeControl = 0; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| /***************************************************/ |
| /* Default Values for parameter set 3 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet3(void) // beginner |
| { |
| EE_Parameter.Revision = EEPARAM_REVISION; |
| if(PlatinenVersion >= 20) |
| { |
| EE_Parameter.Gyro_D = 10; |
| EE_Parameter.Driftkomp = 0; |
| EE_Parameter.GyroAccFaktor = 27; |
| EE_Parameter.WinkelUmschlagNick = 78; |
| EE_Parameter.WinkelUmschlagRoll = 78; |
| } |
| else |
| { |
| EE_Parameter.Gyro_D = 3; |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.GyroAccFaktor = 30; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| } |
| EE_Parameter.GlobalConfig = /*CFG_DREHRATEN_BEGRENZER |*/ CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| EE_Parameter.ExtraConfig = CFG2_HEIGHT_LIMIT | CFG2_VARIO_BEEP;// | CFG_SENSITIVE_RC |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 255; // Wert : 0-247 255 -> Poti1 |
| EE_Parameter.Hoehe_P = 15; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-247 |
| EE_Parameter.Hoehe_ACC_Wirkung = 0; // Wert : 0-247 |
| EE_Parameter.Hoehe_HoverBand = 8; // Wert : 0-247 |
| EE_Parameter.Hoehe_GPS_Z = 64; // Wert : 0-247 |
| EE_Parameter.Hoehe_StickNeutralPoint = 0;// Wert : 0-247 (0 = Hover-Estimation) |
| EE_Parameter.Hoehe_Verstaerkung = 15; // Wert : 0-50 |
| EE_Parameter.Stick_P = 8; // Wert : 1-20 |
| EE_Parameter.Stick_D = 16; // Wert : 0-20 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-247 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-247 |
| EE_Parameter.Gyro_P = 100; // Wert : 0-247 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_P = 100; // Wert : 0-247 |
| EE_Parameter.Gyro_Gier_I = 120; // Wert : 0-247 |
| EE_Parameter.Gyro_Stability = 6; // Wert : 1-8 |
| EE_Parameter.UnterspannungsWarnung = 33; // Wert : 0-247 ( Automatische Zellenerkennung bei < 50) |
| EE_Parameter.NotGas = 45; // Wert : 0-247 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 90; // Wert : 0-247 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.I_Faktor = 16; |
| EE_Parameter.UserParam1 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoCompInvert = 1; // Wert : 0-247 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoNickRefresh = 6; |
| EE_Parameter.Servo3 = 125; |
| EE_Parameter.Servo4 = 125; |
| EE_Parameter.Servo5 = 125; |
| EE_Parameter.ServoRollControl = 100; // Wert : 0-247 // Stellung des Servos |
| EE_Parameter.ServoRollComp = 40; // Wert : 0-247 // Einfluss Gyro/Servo |
| EE_Parameter.ServoRollMin = 0; // Wert : 0-247 // Anschlag |
| EE_Parameter.ServoRollMax = 247; // Wert : 0-247 // Anschlag |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-247 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 80; |
| EE_Parameter.CouplingYawCorrection = 70; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.DynamicStability = 70; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.WARN_J16_Bitmask = 0xAA; |
| EE_Parameter.WARN_J17_Bitmask = 0xAA; |
| EE_Parameter.J16Timing = 30; |
| EE_Parameter.J17Timing = 30; |
| EE_Parameter.NaviGpsModeControl = 254; // 254 -> Poti 2 |
| EE_Parameter.NaviGpsGain = 100; |
| EE_Parameter.NaviGpsP = 90; |
| EE_Parameter.NaviGpsI = 90; |
| EE_Parameter.NaviGpsD = 90; |
| EE_Parameter.NaviGpsPLimit = 75; |
| EE_Parameter.NaviGpsILimit = 75; |
| EE_Parameter.NaviGpsDLimit = 75; |
| EE_Parameter.NaviGpsACC = 0; |
| EE_Parameter.NaviGpsMinSat = 6; |
| EE_Parameter.NaviStickThreshold = 8; |
| EE_Parameter.NaviWindCorrection = 90; |
| EE_Parameter.NaviSpeedCompensation = 30; |
| EE_Parameter.NaviOperatingRadius = 100; |
| EE_Parameter.NaviAngleLimitation = 100; |
| EE_Parameter.NaviPH_LoginTime = 2; |
| EE_Parameter.Receiver = RECEIVER_SPEKTRUM; |
| EE_Parameter.OrientationAngle = 0; |
| EE_Parameter.OrientationModeControl = 0; |
| memcpy(EE_Parameter.Name, "Beginner\0", 12); |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| } |
| /***************************************************/ |
| /* Read Parameter from EEPROM as byte */ |
| /***************************************************/ |
| uint8_t GetParamByte(uint16_t param_id) |
| { |
| return eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
| } |
| /***************************************************/ |
| /* Write Parameter to EEPROM as byte */ |
| /***************************************************/ |
| void SetParamByte(uint16_t param_id, uint8_t value) |
| { |
| eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
| } |
| /***************************************************/ |
| /* Read Parameter from EEPROM as word */ |
| /***************************************************/ |
| uint16_t GetParamWord(uint16_t param_id) |
| { |
| return eeprom_read_word((uint16_t *)(EEPROM_ADR_PARAM_BEGIN + param_id)); |
| } |
| /***************************************************/ |
| /* Write Parameter to EEPROM as word */ |
| /***************************************************/ |
| void SetParamWord(uint16_t param_id, uint16_t value) |
| { |
| eeprom_write_word((uint16_t*)(EEPROM_ADR_PARAM_BEGIN + param_id), value); |
| } |
| /***************************************************/ |
| /* Read Parameter Set from EEPROM */ |
| /***************************************************/ |
| // number [1..5] |
| uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber) |
| { |
| uint8_t crc; |
| uint16_t eeaddr; |
| // range the setnumber |
| if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
| // calculate eeprom addr |
| eeaddr = EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1); |
| // calculate checksum from eeprom |
| crc = EEProm_Checksum(eeaddr, PARAMSET_STRUCT_LEN - 1); |
| // check crc |
| if(crc != eeprom_read_byte((uint8_t*)(eeaddr + PARAMSET_STRUCT_LEN - 1))) return 0; |
| // check revision |
| if(eeprom_read_byte((uint8_t*)(eeaddr)) != EEPARAM_REVISION) return 0; |
| // read paramset from eeprom |
| eeprom_read_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
| LED_Init(); |
| return 1; |
| } |
| /***************************************************/ |
| /* Write Parameter Set to EEPROM */ |
| /***************************************************/ |
| // number [1..5] |
| uint8_t ParamSet_WriteToEEProm(uint8_t setnumber) |
| { |
| uint8_t crc; |
| if(EE_Parameter.Revision == EEPARAM_REVISION) // write only the right revision to eeprom |
| { |
| if(setnumber > 5) setnumber = 5; |
| if(setnumber < 1) return 0; |
| // update checksum |
| EE_Parameter.crc = RAM_Checksum((uint8_t*)(&EE_Parameter), sizeof(EE_Parameter)-1); |
| // write paramset to eeprom |
| eeprom_write_block((void *) &EE_Parameter, (void*)(EEPROM_ADR_PARAMSET + PARAMSET_STRUCT_LEN * (setnumber - 1)), PARAMSET_STRUCT_LEN); |
| // backup channel settings to separate block in eeprom |
| eeprom_write_block( (void*)(EE_Parameter.Kanalbelegung), (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
| // write crc of channel block to eeprom |
| crc = RAM_Checksum((uint8_t*)(EE_Parameter.Kanalbelegung), sizeof(EE_Parameter.Kanalbelegung)); |
| eeprom_write_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung)), crc); |
| // update active settings number |
| SetActiveParamSet(setnumber); |
| LED_Init(); |
| return 1; |
| } |
| // wrong revision |
| return 0; |
| } |
| /***************************************************/ |
| /* Read MixerTable from EEPROM */ |
| /***************************************************/ |
| uint8_t MixerTable_ReadFromEEProm(void) |
| { |
| uint8_t crc; |
| // calculate checksum in eeprom |
| crc = EEProm_Checksum(EEPROM_ADR_MIXERTABLE, sizeof(Mixer) - 1); |
| // check crc |
| if( crc != eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE + sizeof(Mixer) - 1)) ) return 0; |
| // check revision |
| if(eeprom_read_byte((uint8_t*)(EEPROM_ADR_MIXERTABLE)) != EEMIXER_REVISION) return 0; |
| // read mixer table |
| eeprom_read_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
| return 1; |
| } |
| /***************************************************/ |
| /* Write Mixer Table to EEPROM */ |
| /***************************************************/ |
| uint8_t MixerTable_WriteToEEProm(void) |
| { |
| if(Mixer.Revision == EEMIXER_REVISION) |
| { |
| // update crc |
| Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
| // write to eeprom |
| eeprom_write_block((void *) &Mixer, (void*)(EEPROM_ADR_MIXERTABLE), sizeof(Mixer)); |
| return 1; |
| } |
| else return 0; |
| } |
| /***************************************************/ |
| /* Default Values for Mixer Table */ |
| /***************************************************/ |
| void MixerTable_Default(void) // Quadro |
| { |
| uint8_t i; |
| Mixer.Revision = EEMIXER_REVISION; |
| // clear mixer table |
| for(i = 0; i < 16; i++) |
| { |
| Mixer.Motor[i][MIX_GAS] = 0; |
| Mixer.Motor[i][MIX_NICK] = 0; |
| Mixer.Motor[i][MIX_ROLL] = 0; |
| Mixer.Motor[i][MIX_YAW] = 0; |
| } |
| // default = Quadro |
| Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
| Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
| Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
| Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
| memcpy(Mixer.Name, "Quadro\0", 7); |
| Mixer.crc = Mixer.crc = RAM_Checksum((uint8_t*)(&Mixer), sizeof(Mixer) - 1); |
| } |
| /***************************************************/ |
| /* Get active parameter set */ |
| /***************************************************/ |
| uint8_t GetActiveParamSet(void) |
| { |
| uint8_t setnumber; |
| setnumber = eeprom_read_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET)); |
| if(setnumber > 5) |
| { |
| setnumber = 3; |
| eeprom_write_byte((void*)(EEPROM_ADR_PARAM_BEGIN+PID_ACTIVE_SET), setnumber); |
| } |
| return(setnumber); |
| } |
| /***************************************************/ |
| /* Set active parameter set */ |
| /***************************************************/ |
| void SetActiveParamSet(uint8_t setnumber) |
| { |
| if(setnumber > 5) setnumber = 5; |
| if(setnumber < 1) setnumber = 1; |
| eeprom_write_byte((uint8_t*)(EEPROM_ADR_PARAM_BEGIN + PID_ACTIVE_SET), setnumber); |
| } |
| /***************************************************/ |
| /* Initialize EEPROM Parameter Sets */ |
| /***************************************************/ |
| void ParamSet_Init(void) |
| { |
| uint8_t channel_backup = 0, bad_params = 0, ee_default = 0,i; |
| if(EEPARAM_REVISION != GetParamByte(PID_EE_REVISION) ) |
| { |
| ee_default = 1; // software update or forced by mktool |
| SetParamByte(PID_EE_REVISION, EEPARAM_REVISION); |
| } |
| // 1st check for a valid channel backup in eeprom |
| i = EEProm_Checksum(EEPROM_ADR_CHANNELS, sizeof(EE_Parameter.Kanalbelegung)); |
| if(i == eeprom_read_byte((uint8_t*)(EEPROM_ADR_CHANNELS + sizeof(EE_Parameter.Kanalbelegung))) ) channel_backup = 1; |
| // parameter check |
| // check all 5 parameter settings |
| for (i = 1;i < 6; i++) |
| { |
| if(ee_default || !ParamSet_ReadFromEEProm(i)) // could not read paramset from eeprom |
| { |
| bad_params = 1; |
| printf("\n\rGenerating default Parameter Set %d",i); |
| switch(i) |
| { |
| case 1: |
| ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
| break; |
| case 2: |
| ParamSet_DefaultSet2(); // Kamera |
| break; |
| case 3: |
| ParamSet_DefaultSet3(); // Beginner |
| break; |
| default: |
| ParamSet_DefaultSet3(); // Kamera |
| break; |
| } |
| if(channel_backup) // if we have an channel mapping backup in eeprom |
| { // restore it from eeprom |
| eeprom_read_block((void *)EE_Parameter.Kanalbelegung, (void*)(EEPROM_ADR_CHANNELS), sizeof(EE_Parameter.Kanalbelegung)); |
| } |
| else |
| { // use default mapping |
| ParamSet_DefaultStickMapping(); |
| } |
| ParamSet_WriteToEEProm(i); |
| } |
| } |
| if(bad_params) // at least one of the parameter settings were invalid |
| { |
| // default-Setting is parameter set 3 |
| SetActiveParamSet(3); |
| } |
| // read active parameter set to ParamSet stucture |
| i = GetActiveParamSet(); |
| ParamSet_ReadFromEEProm(i); |
| printf("\n\rUsing Parameter Set %d", i); |
| // load mixer table |
| if(ee_default || !MixerTable_ReadFromEEProm() ) |
| { |
| printf("\n\rGenerating default Mixer Table"); |
| MixerTable_Default(); // Quadro |
| MixerTable_WriteToEEProm(); |
| } |
| // determine motornumber |
| RequiredMotors = 0; |
| for(i = 0; i < 16; i++) |
| { |
| if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
| } |
| printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
| printf("\n\r=============================="); |
| } |
| /branches/Znib/V0.80f/eeprom.h |
|---|
| 0,0 → 1,238 |
| #ifndef _EEPROM_H |
| #define _EEPROM_H |
| #include <inttypes.h> |
| #include "twimaster.h" |
| #define EEPARAM_REVISION 84 // is count up, if paramater stucture has changed (compatibility) |
| #define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
| #define EEPROM_ADR_PARAM_BEGIN 0 |
| #define PID_EE_REVISION 1 // byte |
| #define PID_ACTIVE_SET 2 // byte |
| #define PID_PRESSURE_OFFSET 3 // byte |
| #define PID_ACC_NICK 4 // word |
| #define PID_ACC_ROLL 6 // word |
| #define PID_ACC_TOP 8 // word |
| #define PID_FLIGHT_MINUTES_TOTAL 10 // word |
| #define PID_FLIGHT_MINUTES 14 // word |
| #define EEPROM_ADR_CHANNELS 80 // 80 - 93, 12 bytes + 1 byte crc |
| #define EEPROM_ADR_PARAMSET 100 // 100 - 650, 5 * 110 bytes |
| #define EEPROM_ADR_MIXERTABLE 1000 // 1000 - 1078, 78 bytes |
| #define EEPROM_ADR_BLCONFIG 1200 // 1200 - 1296, 12 * 8 bytes |
| #define MIX_GAS 0 |
| #define MIX_NICK 1 |
| #define MIX_ROLL 2 |
| #define MIX_YAW 3 |
| typedef struct |
| { |
| uint8_t Revision; |
| int8_t Name[12]; |
| int8_t Motor[16][4]; |
| uint8_t crc; |
| } __attribute__((packed)) MixerTable_t; |
| extern MixerTable_t Mixer; |
| extern uint8_t RequiredMotors; |
| #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 CFG_MOTOR_BLINK 0x10 |
| #define CFG_MOTOR_OFF_LED1 0x20 |
| #define CFG_MOTOR_OFF_LED2 0x40 |
| #define CFG_RES4 0x80 |
| #define CFG2_HEIGHT_LIMIT 0x01 |
| #define CFG2_VARIO_BEEP 0x02 |
| #define CFG_SENSITIVE_RC 0x04 |
| // bit mask for ParamSet.Config0 |
| #define CFG0_AIRPRESS_SENSOR 0x01 |
| #define CFG0_HEIGHT_SWITCH 0x02 |
| #define CFG0_HEADING_HOLD 0x04 |
| #define CFG0_COMPASS_ACTIVE 0x08 |
| #define CFG0_COMPASS_FIX 0x10 |
| #define CFG0_GPS_ACTIVE 0x20 |
| #define CFG0_AXIS_COUPLING_ACTIVE 0x40 |
| #define CFG0_ROTARY_RATE_LIMITER 0x80 |
| // defines for the receiver selection |
| #define RECEIVER_PPM 0 |
| #define RECEIVER_SPEKTRUM 1 |
| #define RECEIVER_SPEKTRUM_HI_RES 2 |
| #define RECEIVER_SPEKTRUM_LOW_RES 3 |
| #define RECEIVER_JETI 4 |
| #define RECEIVER_ACT_DSL 5 |
| #define RECEIVER_UNKNOWN 0xFF |
| // defines for lookup ParamSet.ChannelAssignment |
| #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 |
| #define K_POTI5 8 |
| #define K_POTI6 9 |
| #define K_POTI7 10 |
| #define K_POTI8 11 |
| // values above 247 representing poti1 to poti8 |
| // poti1 = 255 |
| // poti2 = 254 |
| // poti3 = 253 |
| // poti4 = 252 |
| // poti5 = 251 |
| // poti6 = 250 |
| // poti7 = 249 |
| // poti8 = 248 |
| typedef struct |
| { |
| unsigned char Revision; |
| unsigned char Kanalbelegung[12]; // 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 Hoehe_HoverBand; // Wert : 0-250 |
| unsigned char Hoehe_GPS_Z; // Wert : 0-250 |
| unsigned char Hoehe_StickNeutralPoint;// 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 Gyro_D; // Wert : 0-250 |
| unsigned char Gyro_Gier_P; // Wert : 10-250 |
| unsigned char Gyro_Gier_I; // Wert : 0-250 |
| unsigned char Gyro_Stability; // Wert : 0-16 |
| 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 Receiver; // 0= Summensignal, 1= Spektrum, 2 =Jeti, 3=ACT DSL, 4=ACT S3D |
| 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 |
| //--- Seit V0.75 |
| unsigned char ServoRollControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoRollComp; // Wert : 0-250 |
| unsigned char ServoRollMin; // Wert : 0-250 |
| unsigned char ServoRollMax; // Wert : 0-250 |
| //--- |
| unsigned char ServoNickRefresh; // Speed of the Servo |
| unsigned char Servo3; // Value or mapping of the Servo Output |
| unsigned char Servo4; // Value or mapping of the Servo Output |
| unsigned char Servo5; // Value or mapping of the Servo Output |
| 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 AchsKopplung2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| unsigned char CouplingYawCorrection; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
| 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 |
| // seit version V0.75c |
| unsigned char WARN_J16_Bitmask; // for the J16 Output |
| unsigned char WARN_J17_Bitmask; // 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 NaviGpsPLimit; |
| unsigned char NaviGpsILimit; |
| unsigned char NaviGpsDLimit; |
| unsigned char NaviGpsACC; |
| unsigned char NaviGpsMinSat; |
| unsigned char NaviStickThreshold; |
| unsigned char NaviWindCorrection; |
| unsigned char NaviSpeedCompensation; |
| unsigned char NaviOperatingRadius; |
| unsigned char NaviAngleLimitation; |
| unsigned char NaviPH_LoginTime; |
| //---Ext.Ctrl--------------------------------------------- |
| unsigned char ExternalControl; // for serial Control |
| //---CareFree--------------------------------------------- |
| unsigned char OrientationAngle; // Where is the front-direction? |
| unsigned char OrientationModeControl; // switch for CareFree |
| //------------------------------------------------ |
| unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char ExtraConfig; // bitcodiert |
| char Name[12]; |
| unsigned char crc; // must be the last byte! |
| } paramset_t; |
| #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
| extern paramset_t EE_Parameter; |
| extern uint8_t RAM_Checksum(uint8_t* pBuffer, uint16_t len); |
| extern void ParamSet_Init(void); |
| extern uint8_t ParamSet_ReadFromEEProm(uint8_t setnumber); |
| extern uint8_t ParamSet_WriteToEEProm(uint8_t setnumber); |
| extern uint8_t GetActiveParamSet(void); |
| extern void SetActiveParamSet(uint8_t setnumber); |
| extern uint8_t MixerTable_ReadFromEEProm(void); |
| extern uint8_t MixerTable_WriteToEEProm(void); |
| extern uint8_t GetParamByte(uint16_t param_id); |
| extern void SetParamByte(uint16_t param_id, uint8_t value); |
| extern uint16_t GetParamWord(uint16_t param_id); |
| extern void SetParamWord(uint16_t param_id, uint16_t value); |
| #endif //_EEPROM_H |
| /branches/Znib/V0.80f/fc.c |
|---|
| 0,0 → 1,1722 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + 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. |
| // + 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, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung 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, |
| // + 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 |
| // + for non-commercial use (directly or indirectly) |
| // + 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 |
| // + * porting the sources to other systems or using the software on other systems (except 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 |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "mymath.h" |
| #include "isqrt.h" |
| unsigned char h,m,s; |
| unsigned int BaroExpandActive = 0; |
| int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| int TrimNick, TrimRoll; |
| int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| int Mittelwert_AccNick, Mittelwert_AccRoll; |
| unsigned int NeutralAccX=0, NeutralAccY=0; |
| int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| int NeutralAccZ = 0; |
| unsigned char ControlHeading = 0;// in 2° |
| 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; |
| long SummeNick=0,SummeRoll=0; |
| volatile long Mess_Integral_Hoch = 0; |
| int KompassValue = 0; |
| int KompassStartwert = 0; |
| int KompassRichtung = 0; |
| unsigned int KompassSignalSchlecht = 500; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char HoehenReglerAktiv = 0; |
| unsigned char TrichterFlug = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| long ErsatzKompass; |
| int ErsatzKompassInGrad; // Kompasswert in Grad |
| int GierGyroFehler = 0; |
| char GyroFaktor,GyroFaktorGier; |
| char IntegralFaktor,IntegralFaktorGier; |
| int DiffNick,DiffRoll; |
| //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| char MotorenEin = 0,StartTrigger = 0; |
| long HoehenWert = 0; |
| long SollHoehe = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
| //float Ki = FAKTOR_I; |
| int Ki = 10300 / 33; |
| 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_Hoehe_GPS_Z = 64; // Wert : 0-250 |
| unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
| 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_ServoRollControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 90; |
| unsigned char Parameter_AchsKopplung2 = 65; |
| unsigned char Parameter_CouplingYawCorrection = 64; |
| //unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| unsigned char Parameter_J16Bitmask; // for the J16 Output |
| unsigned char Parameter_J16Timing; // for the J16 Output |
| unsigned char Parameter_J17Bitmask; // for the J17 Output |
| unsigned char Parameter_J17Timing; // for the J17 Output |
| unsigned char Parameter_NaviGpsModeControl; // Parameters for the Naviboard |
| unsigned char Parameter_NaviGpsGain; |
| unsigned char Parameter_NaviGpsP; |
| unsigned char Parameter_NaviGpsI; |
| unsigned char Parameter_NaviGpsD; |
| unsigned char Parameter_NaviGpsACC; |
| unsigned char Parameter_NaviOperatingRadius; |
| unsigned char Parameter_NaviWindCorrection; |
| unsigned char Parameter_NaviSpeedCompensation; |
| unsigned char Parameter_ExternalControl; |
| unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| unsigned char CareFree = 0; |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| unsigned int modell_fliegt = 0; |
| volatile unsigned char FCFlags = 0; |
| long GIER_GRAD_FAKTOR = 1291; |
| signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| signed int tmp_motorwert[MAX_MOTORS]; |
| char VarioCharacter = ' '; |
| int horizontalGas = K_GIER, horizontalNick = K_ROLL; // by Znib |
| #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
| #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void CopyDebugValues(void) |
| { |
| DebugOut.Analog[0] = IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
| DebugOut.Analog[1] = IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
| DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
| DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
| DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
| DebugOut.Analog[5] = HoehenWert/5; |
| DebugOut.Analog[6] = AdWertAccHoch;//(Mess_Integral_Hoch / 512);// Aktuell_az; |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = SenderOkay; |
| DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
| DebugOut.Analog[12] = Motor[0].SetPoint; |
| DebugOut.Analog[13] = Motor[1].SetPoint; |
| DebugOut.Analog[14] = Motor[2].SetPoint; |
| DebugOut.Analog[15] = Motor[3].SetPoint; |
| DebugOut.Analog[20] = ServoNickValue; |
| DebugOut.Analog[22] = Capacity.ActualCurrent; |
| DebugOut.Analog[23] = Capacity.UsedCapacity; |
| // DebugOut.Analog[22] = FromNaviCtrl_Value.GpsZ; |
| // DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
| DebugOut.Analog[30] = GPS_Nick; |
| DebugOut.Analog[31] = GPS_Roll; |
| if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
| } |
| void Piep(unsigned char Anzahl, unsigned int dauer) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| while(Anzahl--) |
| { |
| beeptime = dauer; |
| while(beeptime); |
| Delay_ms(dauer * 2); |
| } |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| unsigned char i; |
| if(PlatinenVersion == 13) SucheGyroOffset(); |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| MesswertNick = AdWertNick; |
| MesswertRoll = AdWertRoll; |
| MesswertGier = AdWertGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
| // ADC einschalten |
| ANALOG_ON; |
| for(i=0;i<8;i++) |
| { |
| int tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
| LIMIT_MIN_MAX(tmp, 0, 255); |
| if(Poti[i] > tmp) Poti[i]--; else if(Poti[i] < tmp) Poti[i]++; |
| } |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| } |
| //############################################################################ |
| // Nullwerte ermitteln |
| void SetNeutral(unsigned char AccAdjustment) |
| //############################################################################ |
| { |
| unsigned char i; |
| unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
| VersionInfo.HardwareError[0] = 0; |
| HEF4017R_ON; |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsKopplung2 = 0; |
| ExpandBaro = 0; |
| CalibrierMittelwert(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| #define NEUTRAL_FILTER 32 |
| for(i=0; i<NEUTRAL_FILTER; i++) |
| { |
| Delay_ms_Mess(10); |
| gier_neutral += AdWertGier; |
| nick_neutral += AdWertNick; |
| roll_neutral += AdWertRoll; |
| } |
| AdNeutralNick= (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralRoll= (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralGier= (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(AccAdjustment) |
| { |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| NeutralAccZ = Aktuell_az; |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
| SetParamWord(PID_ACC_TOP, (uint16_t)NeutralAccZ); |
| } |
| else |
| { |
| // restore from eeprom |
| NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
| NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
| NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
| // strange settings? |
| if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048) || ((unsigned int) NeutralAccZ > 1024)) |
| { |
| printf("\n\rACC not calibrated!\r\n"); |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| NeutralAccZ = Aktuell_az; |
| } |
| } |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| Delay_ms_Mess(100); |
| Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
| IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| Mess_Integral_Gier = 0; |
| StartLuftdruck = Luftdruck; |
| VarioMeter = 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; |
| LED_Init(); |
| FCFlags |= FCFLAG_CALIBRATE; |
| FromNaviCtrl_Value.Kalman_K = -1; |
| FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| for(i=0;i<8;i++) |
| { |
| Poti[i] = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
| } |
| SenderOkay = 100; |
| if(ServoActive) |
| { |
| HEF4017R_ON; |
| DDRD |=0x80; // enable J7 -> Servo signal |
| } |
| if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; }; |
| if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; }; |
| if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; }; |
| if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_NICK; }; |
| if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= DEFEKT_A_ROLL; }; |
| if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= DEFEKT_A_Z; }; |
| } |
| //############################################################################ |
| // Bearbeitet die Messwerte |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| static signed long tmpl,tmpl2,tmpl3,tmpl4; |
| static signed int oldNick, oldRoll, d2Roll, d2Nick; |
| signed long winkel_nick, winkel_roll; |
| unsigned char i; |
| MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| MesswertNick = (signed int) AdWertNickFilter / 8; |
| MesswertRoll = (signed int) AdWertRollFilter / 8; |
| RohMesswertNick = MesswertNick; |
| RohMesswertRoll = MesswertRoll; |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
| Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
| IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
| NaviAccNick += AdWertAccNick; |
| NaviAccRoll += AdWertAccRoll; |
| NaviCntAcc++; |
| IntegralAccZ += Aktuell_az - NeutralAccZ; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ANALOG_ON; |
| AdReady = 0; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
| else winkel_roll = Mess_IntegralRoll; |
| if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
| else winkel_nick = Mess_IntegralNick; |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_Integral_Gier += MesswertGier; |
| ErsatzKompass += MesswertGier; |
| // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| { |
| tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| tmpl3 *= Parameter_AchsKopplung2; //65 |
| tmpl3 /= 4096L; |
| tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| tmpl4 *= Parameter_AchsKopplung2; //65 |
| tmpl4 /= 4096L; |
| KopplungsteilNickRoll = tmpl3; |
| KopplungsteilRollNick = tmpl4; |
| tmpl4 -= tmpl3; |
| ErsatzKompass += tmpl4; |
| if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| tmpl *= Parameter_AchsKopplung1; // 90 |
| tmpl /= 4096L; |
| tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 4096L; |
| if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| } |
| else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| TrimRoll = tmpl - tmpl2 / 100L; |
| TrimNick = -tmpl2 + tmpl / 100L; |
| // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
| if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_IntegralRoll2 += MesswertRoll + TrimRoll; |
| Mess_IntegralRoll += MesswertRoll + TrimRoll - 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; |
| } |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_IntegralNick2 += MesswertNick + TrimNick; |
| Mess_IntegralNick += MesswertNick + TrimNick - 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; |
| } |
| Integral_Gier = Mess_Integral_Gier; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| #define D_LIMIT 128 |
| MesswertNick = HiResNick / 8; |
| MesswertRoll = HiResRoll / 8; |
| 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 > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
| 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 > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
| if(Parameter_Gyro_D) |
| { |
| d2Nick = HiResNick - oldNick; |
| oldNick = (oldNick + HiResNick)/2; |
| if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
| MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| d2Roll = HiResRoll - oldRoll; |
| oldRoll = (oldRoll + HiResRoll)/2; |
| if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
| MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
| HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
| } |
| if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| { |
| if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
| else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
| if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
| else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
| } |
| for(i=0;i<8;i++) |
| { |
| int tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1 + i]] + 110; |
| if(tmp > 255) tmp = 255; else if(tmp < 0) tmp = 0; |
| if(tmp != Poti[i]) |
| { |
| Poti[i] += (tmp - Poti[i]) / 8; |
| if(Poti[i] > tmp) Poti[i]--; |
| else Poti[i]++; |
| } |
| } |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| unsigned char i; |
| if(!MotorenEin) |
| { |
| FCFlags &= ~(FCFLAG_MOTOR_RUN | FCFLAG_FLY); |
| for(i=0;i<MAX_MOTORS;i++) |
| { |
| if(!PC_MotortestActive) MotorTest[i] = 0; |
| Motor[i].SetPoint = MotorTest[i]; |
| Motor[i].SetPointLowerBits = 0; |
| /* |
| Motor[i].SetPoint = MotorTest[i] / 4; |
| Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
| */ |
| } |
| if(PC_MotortestActive) PC_MotortestActive--; |
| } |
| else FCFlags |= FCFLAG_MOTOR_RUN; |
| //Start I2C Interrupt Mode |
| motor_write = 0; |
| I2C_Start(TWI_STATE_MOTOR_TX); |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| unsigned char tmp; |
| #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
| #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
| CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,1,255); |
| CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,1,255); |
| CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
| CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
| CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
| CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
| CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
| CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
| CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
| CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
| CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
| CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
| CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
| CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
| // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
| CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
| Ki = 10300 / (Parameter_I_Faktor + 1); |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| // by Znib |
| if (Parameter_UserParam1 == 1 || Parameter_UserParam1 == 4) |
| { |
| // mode 1 oder 4 |
| horizontalGas = K_ROLL; |
| horizontalNick = K_GIER; |
| } |
| else |
| { |
| horizontalGas = K_GIER; |
| horizontalNick = K_ROLL; |
| } |
| tmp = EE_Parameter.OrientationModeControl; |
| if(tmp > 50) |
| { |
| #ifdef SWITCH_LEARNS_CAREFREE |
| if(!CareFree) ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| #endif |
| CareFree = 1; |
| if(tmp >= 248 && Poti[255 - tmp] < 50) CareFree = 0; |
| if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= DEFEKT_CAREFREE_ERR; else VersionInfo.HardwareError[0] &= ~DEFEKT_CAREFREE_ERR; |
| } |
| else CareFree = 0; |
| if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree && BeepMuster == 0xffff) // ungültiger Kompasswert |
| { |
| beeptime = 15000; |
| BeepMuster = 0xA400; |
| CareFree = 0; |
| } |
| if(CareFree) {if(Parameter_AchsKopplung1 < 210) Parameter_AchsKopplung1 += 30;} |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| { |
| int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| int GierMischanteil,GasMischanteil; |
| 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 unsigned char calibration_done = 0; |
| static char NeueKompassRichtungMerken = 0; |
| static long ausgleichNick, ausgleichRoll; |
| int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| unsigned char i; |
| Mittelwert(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = StickGas; |
| if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Empfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| FCFlags &= ~FCFLAG_NOTLANDUNG; |
| } |
| ROT_ON; |
| if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| FCFlags |= FCFLAG_NOTLANDUNG; |
| 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) |
| { |
| FCFlags &= ~FCFLAG_NOTLANDUNG; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40 && MotorenEin) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| } |
| if((modell_fliegt < 256)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| if(modell_fliegt == 250) |
| { |
| NeueKompassRichtungMerken = 1; |
| } |
| } else FCFlags |= FCFLAG_FLY; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[horizontalGas]] > 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[horizontalNick]]) > 70) |
| { |
| unsigned char setting=1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| SetActiveParamSet(setting); // aktiven Datensatz merken |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[horizontalNick]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| { |
| WinkelOut.CalcState = 1; |
| beeptime = 1000; |
| } |
| else |
| { |
| ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| LipoDetection(0); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| ServoActive = 0; |
| SetNeutral(0); |
| calibration_done = 1; |
| ServoActive = 1; |
| DDRD |=0x80; // enable J7 -> Servo signal |
| Piep(GetActiveParamSet(),120); |
| } |
| } |
| } |
| else |
| if(PPM_in[EE_Parameter.Kanalbelegung[horizontalGas]] < -75) // ACC Neutralwerte speichern |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| SetNeutral(1); |
| calibration_done = 1; |
| Piep(GetActiveParamSet(),120); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| { |
| // Motoren Starten |
| if(!MotorenEin) |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[horizontalGas]] < -75) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 0; |
| if(!VersionInfo.HardwareError[0] && calibration_done) |
| { |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| FCFlags |= FCFLAG_START; |
| ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| } |
| else |
| { |
| beeptime = 1500; // indicate missing calibration |
| } |
| } |
| } |
| else delay_einschalten = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| else // only if motors are running |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[horizontalGas]] > 75) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 0; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || (FCFlags & FCFLAG_NOTLANDUNG)) |
| { |
| 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; |
| 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; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // CareFree und freie Wahl der vorderen Richtung |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; |
| if(CareFree) |
| { |
| signed int nick, roll; |
| nick = stick_nick / 4; |
| roll = stick_roll / 4; |
| StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
| StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
| } |
| else |
| { |
| FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
| FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
| StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
| StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
| } |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| if(StickGier > 2) StickGier -= 2; else |
| if(StickGier < -2) StickGier += 2; else StickGier = 0; |
| StickNick -= (GPS_Nick + GPS_Nick2); |
| StickRoll -= (GPS_Roll + GPS_Roll2); |
| StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| GyroFaktor = (Parameter_Gyro_P + 10.0); |
| IntegralFaktor = Parameter_Gyro_I; |
| GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| IntegralFaktorGier = Parameter_Gyro_Gier_I; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Analoge Steuerung per Seriell |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ExternControl.Config & 0x01 && Parameter_ExternalControl > 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(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| { |
| MaxStickNick = abs(StickNick)/STICK_GAIN; |
| if(MaxStickNick > 100) MaxStickNick = 100; |
| } |
| else MaxStickNick--; |
| if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| { |
| MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| if(MaxStickRoll > 100) MaxStickRoll = 100; |
| } |
| else MaxStickRoll--; |
| if(FCFlags & FCFLAG_NOTLANDUNG) {MaxStickNick = 0; MaxStickRoll = 0;} |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.BitConfig & 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.BitConfig & 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.BitConfig & 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.BitConfig & 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(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(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| TrichterFlug = 1; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(FCFlags & FCFLAG_NOTLANDUNG) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 90; |
| IntegralFaktor = 120; |
| GyroFaktorGier = 90; |
| IntegralFaktorGier = 120; |
| Looping_Roll = 0; |
| Looping_Nick = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ABGLEICH_ANZAHL 256L |
| MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| MittelIntegralRoll += IntegralRoll; |
| MittelIntegralNick2 += IntegralNick2; |
| MittelIntegralRoll2 += IntegralRoll2; |
| 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; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (Aktuell_az > 512 || MotorenEin)) |
| { |
| long tmp_long, tmp_long2; |
| if(FromNaviCtrl_Value.Kalman_K != -1 /*&& !TrichterFlug*/) |
| { |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
| tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
| if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| { |
| tmp_long /= 2; |
| tmp_long2 /= 2; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
| } |
| else |
| { |
| 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 > 64) || (MaxStickRoll > 64)) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| #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; |
| } |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 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 && EE_Parameter.Driftkomp) |
| { |
| 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 |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
| ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
| ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
| LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) && (FromNaviCtrl_Value.Kalman_K == -1)) |
| { |
| LageKorrekturNick /= 2; |
| LageKorrekturRoll /= 2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
| tmp_long = IntegralNick2 - IntegralNick; |
| tmp_long2 = IntegralRoll2 - IntegralRoll; |
| IntegralFehlerNick = tmp_long; |
| IntegralFehlerRoll = tmp_long2; |
| Mess_IntegralNick2 -= IntegralFehlerNick; |
| Mess_IntegralRoll2 -= IntegralFehlerRoll; |
| if(EE_Parameter.Driftkomp) |
| { |
| if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; } |
| if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; } |
| } |
| GierGyroFehler = 0; |
| #define FEHLER_LIMIT (ABGLEICH_ANZAHL / 2) |
| #define FEHLER_LIMIT1 (ABGLEICH_ANZAHL * 2) //4 |
| #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) //16 |
| #define BEWEGUNGS_LIMIT 20000 |
| // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| if(labs(IntegralFehlerNick) > FEHLER_LIMIT1) cnt = 4; |
| if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| { |
| if(IntegralFehlerNick > FEHLER_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralFehlerNick) / (FEHLER_LIMIT2 / 8); |
| 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 / 8); |
| 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 = 1000; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerRoll) / 4096; |
| if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT || (FromNaviCtrl_Value.Kalman_MaxDrift > 3*8)) |
| { |
| if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralFehlerRoll) / (FEHLER_LIMIT2 / 8); |
| 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 / 8); |
| 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 = 1000; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(FromNaviCtrl_Value.Kalman_MaxDrift) if(cnt > FromNaviCtrl_Value.Kalman_MaxDrift) cnt = FromNaviCtrl_Value.Kalman_MaxDrift; |
| if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
| } |
| 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; |
| } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickGier) > 15) // war 35 |
| { |
| KompassSignalSchlecht = 1000; |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) |
| { |
| NeueKompassRichtungMerken = 1; |
| }; |
| } |
| 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 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 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 + 2; |
| fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| //fehler += MesswertGier / 12; |
| if(!KompassSignalSchlecht && w < 25) |
| { |
| GierGyroFehler += fehler; |
| if(NeueKompassRichtungMerken) |
| { |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| NeueKompassRichtungMerken = 0; |
| } |
| } |
| ErsatzKompass += (fehler * 16) / korrektur; |
| w = (w * Parameter_KompassWirkung) / 32; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if(w >= 0) |
| { |
| if(!KompassSignalSchlecht) |
| { |
| v = 64 + ((MaxStickNick + MaxStickRoll)) / 8; |
| r = ((540 + (ErsatzKompass/GIER_GRAD_FAKTOR) - KompassStartwert) % 360) - 180; |
| 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 = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| if(!Looping_Nick) IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralNickMalFaktor = 0; |
| if(!Looping_Roll) IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); else IntegralRollMalFaktor = 0; |
| #define TRIM_MAX 200 |
| if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
| MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
| MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| // Maximalwerte abfangen |
| // #define MAX_SENSOR (4096*STICK_GAIN) |
| #define MAX_SENSOR (4096) |
| 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; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(UBat > BattLowVoltageWarning) GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| GasMischanteil *= STICK_GAIN; |
| // if height control is activated |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && !(Looping_Roll || Looping_Nick)) // Höhenregelung |
| { |
| #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #define OPA_OFFSET_STEP 15 |
| #else |
| #define OPA_OFFSET_STEP 10 |
| #endif |
| int HCGas, HeightDeviation = 0,GasReduction = 0; |
| static int HeightTrimming = 0; // rate for change of height setpoint |
| static int FilterHCGas = 0; |
| static int StickGasHover = 120, HoverGasMin = 0, HoverGasMax = 1023; |
| static unsigned long HoverGasFilter = 0; |
| static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| int CosAttitude; // for projection of hoover gas |
| // get the current hooverpoint |
| DebugOut.Analog[21] = HoverGas; |
| // Expand the measurement |
| // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
| if(!BaroExpandActive) |
| { |
| if(MessLuftdruck > 920) |
| { // increase offset |
| if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| { |
| ExpandBaro -= 1; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
| beeptime = 300; |
| BaroExpandActive = 350; |
| } |
| else |
| { |
| BaroAtLowerLimit = 1; |
| } |
| } |
| // measurement of air pressure close to lower limit and |
| else |
| if(MessLuftdruck < 100) |
| { // decrease offset |
| if(OCR0A > OPA_OFFSET_STEP) |
| { |
| ExpandBaro += 1; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
| beeptime = 300; |
| BaroExpandActive = 350; |
| } |
| else |
| { |
| BaroAtUpperLimit = 1; |
| } |
| } |
| else |
| { |
| BaroAtUpperLimit = 0; |
| BaroAtLowerLimit = 0; |
| } |
| } |
| else // delay, because of expanding the Baro-Range |
| { |
| // now clear the D-values |
| SummenHoehe = HoehenWert * SM_FILTER; |
| VarioMeter = 0; |
| BaroExpandActive--; |
| } |
| // if height control is activated by an rc channel |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { // check if parameter is less than activation threshold |
| if(Parameter_MaxHoehe < 50) // for 3 or 2-state switch height control is disabled in lowest position |
| { //height control not active |
| if(!delay--) |
| { |
| HoehenReglerAktiv = 0; // disable height control |
| SollHoehe = HoehenWert; // update SetPoint with current reading |
| delay = 1; |
| } |
| } |
| else |
| { //height control is activated |
| HoehenReglerAktiv = 1; // enable height control |
| delay = 200; |
| } |
| } |
| else // no switchable height control |
| { |
| SollHoehe = ((int16_t) ExternHoehenValue + (int16_t) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung; |
| HoehenReglerAktiv = 1; |
| } |
| // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
| CosAttitude = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
| LIMIT_MAX(CosAttitude, 60); // limit effective attitude angle |
| CosAttitude = c_cos_8192(CosAttitude); // cos of actual attitude |
| VarioCharacter = ' '; |
| if(HoehenReglerAktiv && !(FCFlags & FCFLAG_NOTLANDUNG)) |
| { |
| #define HEIGHT_TRIM_UP 0x01 |
| #define HEIGHT_TRIM_DOWN 0x02 |
| static unsigned char HeightTrimmingFlag = 0x00; |
| #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| // Holger original version |
| // start of height control algorithm |
| // the height control is only an attenuation of the actual gas stick. |
| // I.e. it will work only if the gas stick is higher than the hover gas |
| // and the hover height will be allways larger than height setpoint. |
| if((EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) || !(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| { // old version |
| HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| HeightTrimming = 0; |
| } |
| else |
| { |
| // alternative height control |
| // PD-Control with respect to hoover point |
| // the thrust loss out of horizontal attitude is compensated |
| // the setpoint will be fine adjusted with the gas stick position |
| if(FCFlags & FCFLAG_FLY) // trim setpoint only when flying |
| { // gas stick is above hoover point |
| if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| { |
| if(HeightTrimmingFlag & HEIGHT_TRIM_DOWN) |
| { |
| HeightTrimmingFlag &= ~HEIGHT_TRIM_DOWN; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| HeightTrimmingFlag |= HEIGHT_TRIM_UP; |
| HeightTrimming += abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| VarioCharacter = '+'; |
| } // gas stick is below hoover point |
| else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) |
| { |
| if(HeightTrimmingFlag & HEIGHT_TRIM_UP) |
| { |
| HeightTrimmingFlag &= ~HEIGHT_TRIM_UP; |
| SollHoehe = HoehenWert; // update setpoint to current heigth |
| } |
| HeightTrimmingFlag |= HEIGHT_TRIM_DOWN; |
| HeightTrimming -= abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| VarioCharacter = '-'; |
| } |
| else // Gas Stick in Hover Range |
| { |
| if(HeightTrimmingFlag & (HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN)) |
| { |
| HeightTrimmingFlag &= ~(HEIGHT_TRIM_UP | HEIGHT_TRIM_DOWN); |
| HeightTrimming = 0; |
| SollHoehe = HoehenWert; // update setpoint to current height |
| if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
| if(!StartTrigger && HoehenWert > 50) |
| { |
| StartTrigger = 1; |
| } |
| } |
| VarioCharacter = '='; |
| } |
| // Trim height set point |
| if(abs(HeightTrimming) > 512) |
| { |
| SollHoehe += (HeightTrimming * EE_Parameter.Hoehe_Verstaerkung)/(5 * 512 / 2); // move setpoint |
| HeightTrimming = 0; |
| LIMIT_MIN_MAX(SollHoehe, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| if(EE_Parameter.ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
| //update hoover gas stick value when setpoint is shifted |
| if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| { |
| StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
| if(StickGasHover < 70) StickGasHover = 70; |
| else if(StickGasHover > 150) StickGasHover = 150; |
| } |
| } |
| if(BaroExpandActive) SollHoehe = HoehenWert; // update setpoint to current altitude if Expanding is active |
| } //if FCFlags & MKFCFLAG_FLY |
| else |
| { |
| SollHoehe = HoehenWert - 400; |
| if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| else StickGasHover = 120; |
| HoverGas = GasMischanteil; |
| } |
| HCGas = HoverGas; // take hover gas (neutral point) |
| } |
| if(HoehenWert > SollHoehe || !(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| { |
| // from this point the Heigth Control Algorithm is identical for both versions |
| if(BaroExpandActive) // baro range expanding active |
| { |
| HCGas = HoverGas; // hover while expanding baro adc range |
| HeightDeviation = 0; |
| } // EOF // baro range expanding active |
| else // valid data from air pressure sensor |
| { |
| // ------------------------- P-Part ---------------------------- |
| tmp_long = (HoehenWert - SollHoehe); // positive when too high |
| LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
| HeightDeviation = (int)(tmp_long); // positive when too high |
| tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
| GasReduction = tmp_long; |
| // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| tmp_int = VarioMeter / 8; |
| LIMIT_MIN_MAX(tmp_int, -127, 128); |
| tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
| LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
| if(HeightTrimmingFlag) tmp_int /= 4; // reduce d-part while trimming setpoint |
| else |
| if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
| GasReduction += tmp_int; |
| } // EOF no baro range expanding |
| // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| if(Parameter_Hoehe_ACC_Wirkung) |
| { |
| tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
| LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| GasReduction += tmp_long; |
| } |
| // ------------------------ D-Part 3: GpsZ ---------------------------------- |
| tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| GasReduction += tmp_int; |
| GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
| // ------------------------ ---------------------------------- |
| HCGas -= GasReduction; |
| // limit deviation from hoover point within the target region |
| if(!HeightTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
| { |
| unsigned int tmp; |
| tmp = abs(HeightDeviation); |
| if(tmp <= 60) |
| { |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
| } |
| else |
| { |
| tmp = (tmp - 60) / 32; |
| if(tmp > 15) tmp = 15; |
| if(HeightDeviation > 0) |
| { |
| tmp = (HoverGasMin * (16 - tmp)) / 16; |
| LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
| } |
| else |
| { |
| tmp = (HoverGasMax * (tmp + 16)) / 16; |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
| } |
| } |
| } |
| // strech control output by inverse attitude projection 1/cos |
| // + 1/cos(angle) ++++++++++++++++++++++++++ |
| tmp_long2 = (int32_t)HCGas; |
| tmp_long2 *= 8192L; |
| tmp_long2 /= CosAttitude; |
| HCGas = (int16_t)tmp_long2; |
| // update height control gas averaging |
| FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
| // limit height control gas pd-control output |
| LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
| // set GasMischanteil to HeightControlGasFilter |
| if(EE_Parameter.ExtraConfig & CFG2_HEIGHT_LIMIT) |
| { // old version |
| LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
| GasMischanteil = FilterHCGas; |
| } |
| else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
| } |
| }// EOF height control active |
| else // HC not active |
| { |
| //update hoover gas stick value when HC is not active |
| if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| { |
| StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
| StickGasHover = (StickGasHover * UBat) / BattLowVoltageWarning; |
| } |
| else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| LIMIT_MIN_MAX(StickGasHover, 70, 150); // reserve some range for trim up and down |
| FilterHCGas = GasMischanteil; |
| } |
| // Hover gas estimation by averaging gas control output on small z-velocities |
| // this is done only if height contol option is selected in global config and aircraft is flying |
| if((FCFlags & FCFLAG_FLY))// && !(FCFlags & FCFLAG_NOTLANDUNG)) |
| { |
| if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| if(StartTrigger == 1) StartTrigger = 2; |
| tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| tmp_long2 *= CosAttitude; // apply attitude projection |
| tmp_long2 /= 8192; |
| // average vertical projected thrust |
| if(modell_fliegt < 4000) // the first 8 seconds |
| { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
| HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
| HoverGasFilter += 16L * tmp_long2; |
| } |
| if(modell_fliegt < 8000) // the first 16 seconds |
| { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
| HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| HoverGasFilter += 4L * tmp_long2; |
| } |
| else //later |
| if(abs(VarioMeter) < 100) // only on small vertical speed |
| { |
| HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| HoverGasFilter += tmp_long2; |
| } |
| HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| if(EE_Parameter.Hoehe_HoverBand) |
| { |
| int16_t band; |
| band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| HoverGasMin = HoverGas - band; |
| HoverGasMax = HoverGas + band; |
| } |
| else |
| { // no limit |
| HoverGasMin = 0; |
| HoverGasMax = 1023; |
| } |
| } |
| else |
| { |
| StartTrigger = 0; |
| HoverGasFilter = 0; |
| HoverGas = 0; |
| } |
| }// EOF ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL |
| // limit gas to parameter setting |
| LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // all BL-Ctrl connected? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(MissingMotor || Capacity.MinOfMaxPWM != 255) |
| if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| { |
| modell_fliegt = 1; |
| GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = GasMischanteil; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| #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)); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - 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_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8 + SummeNick / Ki; // PI-Regler für Nick |
| // Motor Vorn |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
| if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
| pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8 + SummeRoll / Ki; // PI-Regler für Roll |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Universal Mixer |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| for(i=0; i<MAX_MOTORS; i++) |
| { |
| signed int tmp_int; |
| if(Mixer.Motor[i][0] > 0) |
| { |
| // Gas |
| if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| // Nick |
| if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
| else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
| else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
| // Roll |
| if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
| else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
| else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
| // Gier |
| if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
| else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
| else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
| if(tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // MotorSmoothing |
| else tmp_int = 2 * tmp_int - tmp_motorwert[i]; // MotorSmoothing |
| LIMIT_MIN_MAX(tmp_int,MIN_GAS * 4,MAX_GAS * 4); |
| Motor[i].SetPoint = tmp_int / 4; |
| Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
| tmp_motorwert[i] = tmp_int; |
| } |
| else |
| { |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| } |
| } |
| } |
| /branches/Znib/V0.80f/fc.h |
|---|
| 0,0 → 1,120 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
| //#define GIER_GRAD_FAKTOR 1160L |
| extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
| #define STICK_GAIN 4 |
| #define ACC_AMPLIFY 6 |
| #define FCFLAG_MOTOR_RUN 0x01 |
| #define FCFLAG_FLY 0x02 |
| #define FCFLAG_CALIBRATE 0x04 |
| #define FCFLAG_START 0x08 |
| #define FCFLAG_NOTLANDUNG 0x10 |
| #define FCFLAG_LOWBAT 0x20 |
| #define FCFLAG_SPI_RX_ERR 0x40 |
| #define FCFLAG_I2CERR 0x80 |
| #define DEFEKT_G_NICK 0x01 |
| #define DEFEKT_G_ROLL 0x02 |
| #define DEFEKT_G_GIER 0x04 |
| #define DEFEKT_A_NICK 0x08 |
| #define DEFEKT_A_ROLL 0x10 |
| #define DEFEKT_A_Z 0x20 |
| #define DEFEKT_PRESSURE 0x40 |
| #define DEFEKT_CAREFREE_ERR 0x80 |
| #define DEFEKT_I2C 0x01 |
| #define DEFEKT_BL_MISSING 0x02 |
| #define DEFEKT_SPI_RX_ERR 0x04 |
| #define DEFEKT_PPM_ERR 0x08 |
| #define DEFEKT_MIXER_ERR 0x10 |
| #define Poti1 Poti[0] |
| #define Poti2 Poti[1] |
| #define Poti3 Poti[2] |
| #define Poti4 Poti[3] |
| #define Poti5 Poti[4] |
| #define Poti6 Poti[5] |
| #define Poti7 Poti[6] |
| #define Poti8 Poti[7] |
| extern volatile unsigned char FCFlags; |
| extern unsigned char Sekunde,Minute; |
| extern unsigned int BaroExpandActive; |
| extern long IntegralNick,IntegralNick2; |
| extern long IntegralRoll,IntegralRoll2; |
| //extern int IntegralNick,IntegralNick2; |
| //extern int IntegralRoll,IntegralRoll2; |
| extern unsigned char Poti[9]; |
| extern long Mess_IntegralNick,Mess_IntegralNick2; |
| extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern long IntegralAccNick,IntegralAccRoll; |
| extern long SummeNick,SummeRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern int KompassValue; |
| extern int KompassStartwert; |
| extern int KompassRichtung; |
| extern unsigned char ControlHeading; |
| extern int TrimNick, TrimRoll; |
| extern long ErsatzKompass; |
| extern int ErsatzKompassInGrad; // Kompasswert in Grad |
| extern long HoehenWert; |
| extern long SollHoehe; |
| extern unsigned char CareFree; |
| extern int MesswertNick,MesswertRoll,MesswertGier; |
| extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern unsigned int NeutralAccX, NeutralAccY; |
| extern unsigned char HoehenReglerAktiv; |
| extern int 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; |
| extern void MotorRegler(void); |
| extern void SendMotorData(void); |
| //void CalibrierMittelwert(void); |
| //void Mittelwert(void); |
| extern void SetNeutral(unsigned char AccAdjustment); |
| extern void Piep(unsigned char Anzahl, unsigned int dauer); |
| extern void CopyDebugValues(void); |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern int DiffNick,DiffRoll; |
| //extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char SenderOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| extern char VarioCharacter; |
| extern int HoverGas; |
| 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_ServoRollControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsKopplung2; |
| //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 signed char MixerTable[MAX_MOTORS][4]; |
| #endif //_FC_H |
| /branches/Znib/V0.80f/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="jeti.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="spi.h"></File><File path="spi.c"></File><File path="led.h"></File><File path="led.c"></File><File path="fc.c"></File><File path="mymath.c"></File><File path="mymath.h"></File><File path="isqrt.S"></File><File path="Spektrum.c"></File><File path="Spektrum.h"></File><File path="eeprom.h"></File><File path="eeprom.c"></File><File path="libfc.h"></File><File path="debug.c"></File><File path="debug.h"></File></Project> |
| /branches/Znib/V0.80f/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/Znib/V0.80f/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/Znib/V0.80f/isqrt.S |
|---|
| 0,0 → 1,203 |
| ;-----------------------------------------------------------------------------; |
| ; Fast integer squareroot routines for avr-gcc project (C)ChaN, 2008 |
| ; http://elm-chan.org/docs/avrlib/sqrt32.S |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t isqrt32 (uint32_t n); |
| ; uint8_t isqrt16 (uint16_t n); |
| ; uint16_t ihypot (int16_t x, int16_t y); |
| ;-----------------------------------------------------------------------------: |
| ; 32bit integer squareroot |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t isqrt32 ( |
| ; uint32_t n |
| ; ); |
| ; |
| ; Return Value: |
| ; Squareroot of n. |
| ; |
| ; Size = 53 words |
| ; Clock = 532..548 cycles |
| ; Stack = 0 byte |
| .global isqrt32 |
| .func isqrt32 |
| isqrt32: |
| clr r0 |
| clr r18 |
| clr r19 |
| clr r20 |
| ldi r21, 1 |
| clr r27 |
| clr r30 |
| clr r31 |
| ldi r26, 16 |
| 1: lsl r22 |
| rol r23 |
| rol r24 |
| rol r25 |
| rol r0 |
| rol r18 |
| rol r19 |
| rol r20 |
| lsl r22 |
| rol r23 |
| rol r24 |
| rol r25 |
| rol r0 |
| rol r18 |
| rol r19 |
| rol r20 |
| brpl 2f |
| add r0, r21 |
| adc r18, r27 |
| adc r19, r30 |
| adc r20, r31 |
| rjmp 3f |
| 2: sub r0, r21 |
| sbc r18, r27 |
| sbc r19, r30 |
| sbc r20, r31 |
| 3: lsl r21 |
| rol r27 |
| rol r30 |
| andi r21, 0b11111000 |
| ori r21, 0b00000101 |
| sbrc r20, 7 |
| subi r21, 2 |
| dec r26 |
| brne 1b |
| lsr r30 |
| ror r27 |
| ror r21 |
| lsr r30 |
| ror r27 |
| ror r21 |
| mov r24, r21 |
| mov r25, r27 |
| ret |
| .endfunc |
| ;-----------------------------------------------------------------------------: |
| ; 16bit integer squareroot |
| ;-----------------------------------------------------------------------------; |
| ; uint8_t isqrt16 ( |
| ; uint16_t n |
| ; ); |
| ; |
| ; Return Value: |
| ; Squareroot of n. |
| ; |
| ; Size = 33 words |
| ; Clock = 181..189 cycles |
| ; Stack = 0 byte |
| .global isqrt16 |
| .func isqrt16 |
| isqrt16: |
| clr r18 |
| clr r19 |
| ldi r20, 1 |
| clr r21 |
| ldi r22, 8 |
| 1: lsl r24 |
| rol r25 |
| rol r18 |
| rol r19 |
| lsl r24 |
| rol r25 |
| rol r18 |
| rol r19 |
| brpl 2f |
| add r18, r20 |
| adc r19, r21 |
| rjmp 3f |
| 2: sub r18, r20 |
| sbc r19, r21 |
| 3: lsl r20 |
| rol r21 |
| andi r20, 0b11111000 |
| ori r20, 0b00000101 |
| sbrc r19, 7 |
| subi r20, 2 |
| dec r22 |
| brne 1b |
| lsr r21 |
| ror r20 |
| lsr r21 |
| ror r20 |
| mov r24, r20 |
| ret |
| .endfunc |
| ;-----------------------------------------------------------------------------: |
| ; 16bit integer hypot (megaAVR is required) |
| ;-----------------------------------------------------------------------------; |
| ; uint16_t ihypot ( |
| ; int16_t x, |
| ; int16_t y |
| ; ); |
| ; |
| ; Return Value: |
| ; Squareroot of (x*x + y*y) |
| ; |
| ; Size = 42 words |
| ; Clock = 581..597 cycles |
| ; Stack = 0 byte |
| .global ihypot |
| .func ihypot |
| ihypot: |
| clr r26 |
| sbrs r25, 7 |
| rjmp 1f |
| com r24 |
| com r25 |
| adc r24, r26 |
| adc r25, r26 |
| 1: sbrs r23, 7 |
| rjmp 2f |
| com r22 |
| com r23 |
| adc r22, r26 |
| adc r23, r26 |
| 2: mul r22, r22 |
| movw r18, r0 |
| mul r23, r23 |
| movw r20, r0 |
| mul r22, r23 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| mul r24, r24 |
| movw r30, r0 |
| mul r25, r25 |
| add r18, r30 |
| adc r19, r31 |
| adc r20, r0 |
| adc r21, r1 |
| mul r24, r25 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| add r19, r0 |
| adc r20, r1 |
| adc r21, r26 |
| movw r24, r20 |
| movw r22, r18 |
| clr r1 |
| rjmp isqrt32 |
| .endfunc |
| /branches/Znib/V0.80f/isqrt.h |
|---|
| 0,0 → 1,11 |
| #ifndef _ISQRT_H |
| #define _ISQRT_H |
| #include <inttypes.h> |
| // coded in assembler file |
| extern uint16_t isqrt32(uint32_t n); |
| extern uint8_t isqrt16(uint16_t n); |
| extern uint16_t ihypot(int16_t x, int16_t y); |
| #endif // _ISQRT_H |
| /branches/Znib/V0.80f/jetimenu.c |
|---|
| 0,0 → 1,162 |
| #include "jetimenu.h" |
| #include "libfc.h" |
| #include "printf_P.h" |
| #include "main.h" |
| #include "spi.h" |
| #include "capacity.h" |
| #define JETIBOX_KEY_RIGHT 0x1F |
| #define JETIBOX_KEY_UP 0x2F |
| #define JETIBOX_KEY_DOWN 0x4F |
| #define JETIBOX_KEY_LEFT 0x8F |
| #define JETIBOX_KEY_NONE 0x0F |
| #define JETIBOX_KEY_UNDEF 0x00 |
| #define JetiBox_printfxy(x,y,format, args...) { LIBFC_JetiBox_SetPos(y * 16 + x); _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);} |
| #define JetiBox_printf(format, args...) { _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);} |
| // ----------------------------------------------------------- |
| // the menu functions |
| // ----------------------------------------------------------- |
| void Menu_Status(uint8_t key) |
| { //0123456789ABCDEF |
| JetiBox_printfxy(0,0,"%2i.%1iV",UBat/10, UBat%10); |
| if(NaviDataOkay) |
| { |
| // JetiBox_printfxy(6,0,"%03dm %03d%c", GPSInfo.HomeDistance/10,GPSInfo.HomeBearing, 0xDF); |
| JetiBox_printfxy(6,0,"%3d%c %03dm",(int)(ErsatzKompass / GIER_GRAD_FAKTOR), 0xDF, GPSInfo.HomeDistance/10); |
| } |
| else |
| { |
| JetiBox_printfxy(6,0,"Status"); |
| } |
| if(NC_ErrorCode) JetiBox_printfxy(6,0,"ERROR: %2d",NC_ErrorCode); |
| JetiBox_printfxy(0,1,"%4i %2i:%02i",Capacity.UsedCapacity,FlugSekunden/60,FlugSekunden%60); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| JetiBox_printfxy(10,1,"%4im%c", (int16_t)(HoehenWert/100),VarioCharacter); |
| } |
| } |
| void Menu_Temperature(uint8_t key) |
| { //0123456789ABCDEF |
| JetiBox_printfxy(0,0,"%3i %3i %3i %3i", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature); |
| JetiBox_printfxy(0,1,"%3i %3i %3i %3i", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature); |
| if(RequiredMotors <= 4) |
| { |
| JetiBox_printfxy(0,1,"Temperatures "); |
| } |
| else |
| if(RequiredMotors <= 6) |
| { |
| JetiBox_printfxy(8,1,"\%cC ",0xdf); |
| } |
| } |
| void Menu_Battery(uint8_t key) |
| { //0123456789ABCDEF |
| JetiBox_printfxy(0,0,"%2i.%1iV %3i.%1iA", UBat/10, UBat%10, Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| JetiBox_printfxy(0,1,"%4iW %6imAh",Capacity.ActualPower, Capacity.UsedCapacity); |
| } |
| void Menu_PosInfo(uint8_t key) |
| { |
| if(NaviDataOkay) |
| { |
| JetiBox_printfxy(0,0,"%2um/s Sat:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
| switch (GPSInfo.SatFix) |
| { |
| case SATFIX_3D: |
| JetiBox_printfxy(12,0," 3D"); |
| break; |
| case SATFIX_2D: |
| case SATFIX_NONE: |
| default: |
| JetiBox_printfxy(12,0,"NoFx"); |
| break; |
| } |
| if(GPSInfo.Flags & FLAG_DIFFSOLN) |
| { |
| JetiBox_printfxy(12,0,"DGPS"); |
| } |
| JetiBox_printfxy(0,1,"Home:%3dm %3d%c", GPSInfo.HomeDistance/10, GPSInfo.HomeBearing, 0xDF); |
| } |
| else |
| { //0123456789ABCDEF |
| JetiBox_printfxy(2,0,"No NaviCtrl!"); |
| } |
| } |
| // ----------------------------------------------------------- |
| // the menu topology |
| // ----------------------------------------------------------- |
| typedef void (*pFctMenu) (uint8_t); // the menu item handler function pointer |
| typedef struct{ |
| int8_t left; |
| int8_t right; |
| int8_t up; |
| int8_t down; |
| pFctMenu pHandler; |
| } MENU_ENTRY; |
| // the menu navigation structure |
| /* | |
| 3 - 0 - 1 - 2 - 3 - 0 |
| */ |
| const MENU_ENTRY JetiBox_Menu[] PROGMEM= |
| { // l r u d pHandler |
| {3, 1, 0, 0, &Menu_Status }, // 0 |
| {0, 2, 1, 1, &Menu_Temperature }, // 1 |
| {1, 3, 2, 2, &Menu_Battery }, // 2 |
| {2, 0, 3, 3, &Menu_PosInfo }, // 3 |
| }; |
| // ----------------------------------------------------------- |
| // Update display buffer |
| // ----------------------------------------------------------- |
| unsigned char JetiBox_Update(unsigned char key) |
| { |
| static uint8_t item = 0, last_item = 0; // the menu item |
| // navigate within the menu by key action |
| last_item = item; |
| switch(key) |
| { |
| case JETIBOX_KEY_LEFT: |
| if (item == 0) return (1); // switch back to jeti expander menu |
| else item = pgm_read_byte(&JetiBox_Menu[item].left); //trigger to left menu item |
| break; |
| case JETIBOX_KEY_RIGHT: |
| item = pgm_read_byte(&JetiBox_Menu[item].right); //trigger to right menu item |
| break; |
| case JETIBOX_KEY_UP: |
| item = pgm_read_byte(&JetiBox_Menu[item].up); //trigger to up menu item |
| break; |
| case JETIBOX_KEY_DOWN: |
| item = pgm_read_byte(&JetiBox_Menu[item].down); //trigger to down menu item |
| break; |
| default: |
| break; |
| } |
| // if the menu item has been changed, do not pass the key to the item handler |
| // to avoid jumping over to items |
| if(item != last_item) key = JETIBOX_KEY_UNDEF; |
| LIBFC_JetiBox_Clear(); |
| //execute menu item handler |
| ((pFctMenu)(pgm_read_word(&(JetiBox_Menu[item].pHandler))))(key); |
| return (0); |
| } |
| /branches/Znib/V0.80f/jetimenu.h |
|---|
| 0,0 → 1,6 |
| #ifndef _JETIMENU_H |
| #define _JETIMENU_H |
| extern unsigned char JetiBox_Update(unsigned char key); |
| #endif //_JETIMENU_H |
| /branches/Znib/V0.80f/led.c |
|---|
| 0,0 → 1,99 |
| #include <inttypes.h> |
| #include "main.h" |
| uint16_t LED1_Timing = 0; |
| uint16_t LED2_Timing = 0; |
| unsigned char J16Blinkcount = 0, J16Mask = 1; |
| unsigned char J17Blinkcount = 0, J17Mask = 1; |
| // 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; |
| J16Blinkcount = 0; J16Mask = 128; |
| J17Blinkcount = 0; J17Mask = 128; |
| } |
| // called in UpdateMotors() every 2ms |
| void LED_Update(void) |
| { |
| static char delay = 0; |
| static unsigned char J16Bitmask = 0; |
| static unsigned char J17Bitmask = 0; |
| static unsigned char J16Warn = 0, J17Warn = 0; |
| if(!delay--) // 10ms Intervall |
| { |
| delay = 4; |
| if(FCFlags & (FCFLAG_LOWBAT | FCFLAG_NOTLANDUNG | FCFLAG_I2CERR)) |
| { |
| if(EE_Parameter.WARN_J16_Bitmask) |
| { |
| if(!J16Warn) J16Blinkcount = 4; |
| J16Warn = 1; |
| } |
| if(EE_Parameter.WARN_J17_Bitmask) |
| { |
| if(!J17Warn) J17Blinkcount = 4; |
| J17Warn = 1; |
| } |
| } |
| else |
| { |
| J16Warn = 0; |
| J17Warn = 0; |
| J16Bitmask = EE_Parameter.J16Bitmask; |
| J17Bitmask = EE_Parameter.J17Bitmask; |
| } |
| if(!J16Warn) |
| { |
| if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED1) J16_ON; else J16_OFF;} |
| else |
| if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing > 220)) {if(J16Bitmask & 128) J16_ON; else J16_OFF;} |
| else |
| if((EE_Parameter.J16Timing > 247) && (Parameter_J16Timing < 10)) {if(J16Bitmask & 128) J16_OFF; else J16_ON;} |
| else |
| if(!J16Blinkcount--) |
| { |
| J16Blinkcount = Parameter_J16Timing-1; |
| if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2; |
| if(J16Mask & J16Bitmask) J16_ON; else J16_OFF; |
| } |
| } |
| else |
| if(!J16Blinkcount--) |
| { |
| J16Blinkcount = 10-1; |
| if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2; |
| if(J16Mask & EE_Parameter.WARN_J16_Bitmask) J16_ON; else J16_OFF; |
| } |
| if(!J17Warn) |
| { |
| if((EE_Parameter.BitConfig & CFG_MOTOR_BLINK) && !MotorenEin) {if(EE_Parameter.BitConfig & CFG_MOTOR_OFF_LED2) J17_ON; else J17_OFF;} |
| else |
| if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing > 220)) {if(J17Bitmask & 128) J17_ON; else J17_OFF;} |
| else |
| if((EE_Parameter.J17Timing > 247) && (Parameter_J17Timing < 10)) {if(J17Bitmask & 128) J17_OFF; else J17_ON;} |
| else |
| if(!J17Blinkcount--) |
| { |
| J17Blinkcount = Parameter_J17Timing-1; |
| if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
| if(J17Mask & J17Bitmask) J17_ON; else J17_OFF; |
| } |
| } |
| else |
| if(!J17Blinkcount--) |
| { |
| J17Blinkcount = 10-1; |
| if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
| if(J17Mask & EE_Parameter.WARN_J17_Bitmask) J17_ON; else J17_OFF; |
| } |
| } |
| } |
| /branches/Znib/V0.80f/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/Znib/V0.80f/libfc.h |
|---|
| 0,0 → 1,20 |
| #ifndef _LIBFC_H |
| #define _LIBFC_H |
| #define CPU_UNKNOWN 0 |
| #define CPU_ATMEGA644 1 |
| #define CPU_ATMEGA644P 2 |
| #define CPU_ATMEGA1284 3 |
| #define CPU_ATMEGA1284P 4 |
| extern void LIBFC_Init(void); |
| extern void LIBFC_Polling(void); |
| extern void LIBFC_ReceiverInit(unsigned char rtype); |
| extern void LIBFC_JetiBox_Putchar(char c); |
| extern void LIBFC_JetiBox_SetPos(unsigned char index); |
| extern void LIBFC_JetiBox_Clear(void); |
| extern unsigned char LIBFC_GetCPUType(void); |
| #endif //_LIBFC_H |
| /branches/Znib/V0.80f/libfc1284.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /branches/Znib/V0.80f/libfc644.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
| \ No newline at end of property |
| /branches/Znib/V0.80f/main.c |
|---|
| 0,0 → 1,402 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
| // + 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. |
| // + 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, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung oder Nutzung 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, |
| // + 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 |
| // + for non-commercial use (directly or indirectly) |
| // + 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 |
| // + * porting the sources to other systems or using the software on other systems (except 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 |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned char PlatinenVersion = 10; |
| unsigned char SendVersionToNavi = 1; |
| unsigned char BattLowVoltageWarning = 94; |
| unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| unsigned int FlugSekunden = 0; |
| pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| unsigned char FoundMotors = 0; |
| 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,150); |
| } |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| } |
| void LipoDetection(unsigned char print) |
| { |
| #define MAX_CELL_VOLTAGE 43 // max cell volatage for LiPO |
| unsigned int timer, cells; |
| if(print) printf("\n\rBatt:"); |
| if(EE_Parameter.UnterspannungsWarnung < 50) // automatische Zellenerkennung |
| { |
| timer = SetDelay(500); |
| if(print) while (!CheckDelay(timer)); |
| // up to 6s LiPo, less than 2s is technical impossible |
| for(cells = 2; cells < 7; cells++) |
| { |
| if(UBat < cells * MAX_CELL_VOLTAGE) break; |
| } |
| BattLowVoltageWarning = cells * EE_Parameter.UnterspannungsWarnung; |
| if(print) |
| { |
| Piep(cells, 200); |
| printf(" %d Cells ", cells); |
| } |
| } |
| else BattLowVoltageWarning = EE_Parameter.UnterspannungsWarnung; |
| if(print) printf(" Low warning level: %d.%d",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer,i,timer2 = 0, timerPolling; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| PlatinenVersion = 21; |
| #else |
| if(PINB & 0x01) |
| { |
| if(PINB & 0x02) PlatinenVersion = 13; |
| else PlatinenVersion = 11; |
| } |
| else |
| { |
| if(PINB & 0x02) PlatinenVersion = 20; |
| else PlatinenVersion = 10; |
| } |
| #endif |
| DDRC = 0x81; // SCL |
| DDRC |=0x40; // HEF4017 Reset |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| PORTD = 0x47; // LED |
| HEF4017R_ON; |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2500; |
| StickGier = 0; PPM_in[K_GAS] = 0; StickRoll = 0; StickNick = 0; |
| if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
| ROT_OFF; |
| Timer_Init(); |
| TIMER2_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| I2C_Init(); |
| SPI_MasterInit(); |
| Capacity_Init(); |
| LIBFC_Init(); |
| GRN_ON; |
| sei(); |
| ParamSet_Init(); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Check connected BL-Ctrls |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Check connected BL-Ctrls |
| BLFlags |= BLFLAG_READ_VERSION; |
| motor_read = 0; // read the first I2C-Data |
| SendMotorData(); |
| timer = SetDelay(500); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| printf("\n\rFound BL-Ctrl: "); |
| timer = SetDelay(4000); |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| SendMotorData(); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
| { |
| while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
| { |
| SendMotorData(); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| } |
| } |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| printf("%d",i+1); |
| FoundMotors++; |
| // if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new) "); |
| } |
| } |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
| { |
| printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
| ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
| } |
| Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| } |
| printf("\n\r==================================="); |
| if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= DEFEKT_MIXER_ERR; |
| //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rCalibrating pressure sensor.."); |
| timer = SetDelay(1000); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(0); |
| ROT_OFF; |
| beeptime = 2000; |
| ExternControl.Digital[0] = 0x55; |
| FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
| FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
| if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
| { |
| FlugMinuten = 0; |
| FlugMinutenGesamt = 0; |
| } |
| printf("\n\rFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
| printf("\n\rControl: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Normal (ACC-Mode)"); |
| LcdClear(); |
| I2CTimeout = 5000; |
| WinkelOut.Orientation = 1; |
| LipoDetection(1); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| printf("\n\r===================================\n\r"); |
| //SpektrumBinding(); |
| timer = SetDelay(2000); |
| timerPolling = SetDelay(250); |
| Debug(ANSI_CLEAR "FC-Start!\n\rFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
| DebugOut.Status[0] = 0x01 | 0x02; |
| while (1) |
| { |
| if(CheckDelay(timerPolling)) |
| { |
| timerPolling = SetDelay(100); |
| LIBFC_Polling(); |
| } |
| if(UpdateMotor && AdReady) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| if(WinkelOut.CalcState) CalMk3Mag(); |
| else MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(SenderOkay) { SenderOkay--; VersionInfo.HardwareError[1] &= ~DEFEKT_PPM_ERR; } |
| else |
| { |
| TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
| PPM_in[0] = 0; // set RSSI to zero on data timeout |
| VersionInfo.HardwareError[1] |= DEFEKT_PPM_ERR; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!--I2CTimeout || MissingMotor) |
| { |
| if(!I2CTimeout) |
| { |
| I2C_Reset(); |
| I2CTimeout = 5; |
| DebugOut.Analog[28]++; // I2C-Error |
| FCFlags |= FCFLAG_I2CERR; |
| VersionInfo.HardwareError[1] |= DEFEKT_I2C; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 10000; |
| BeepMuster = 0x0080; |
| } |
| } |
| else |
| { |
| ROT_OFF; |
| if(!beeptime) |
| { |
| FCFlags &= ~FCFLAG_I2CERR; |
| } |
| } |
| if(!UpdateMotor) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| if(CheckDelay(timer)) |
| { |
| static unsigned char second; |
| timer += 20; // 20 ms interval |
| if(MissingMotor) |
| { |
| VersionInfo.HardwareError[1] |= DEFEKT_BL_MISSING; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| else |
| { |
| VersionInfo.HardwareError[1] &= ~DEFEKT_BL_MISSING; |
| if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
| } |
| if(I2CTimeout > 6) VersionInfo.HardwareError[1] &= ~DEFEKT_I2C; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| ExternControl.Config = 0; |
| ExternStickNick = 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| if(BeepMuster == 0xffff && SenderOkay == 0) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| } |
| } |
| if(NaviDataOkay > 200) |
| { |
| NaviDataOkay--; |
| FCFlags &= ~FCFLAG_SPI_RX_ERR; |
| VersionInfo.HardwareError[1] &= ~DEFEKT_SPI_RX_ERR; |
| } |
| else |
| { |
| if(NC_Version.Compatible) |
| { |
| FCFlags |= FCFLAG_SPI_RX_ERR; |
| VersionInfo.HardwareError[1] |= DEFEKT_SPI_RX_ERR; |
| if(BeepMuster == 0xffff && MotorenEin) |
| { |
| beeptime = 15000; |
| BeepMuster = 0xA800; |
| } |
| } |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| //if(!beeptime) |
| FromNaviCtrl.CompassValue = -1; |
| NaviDataOkay = 0; |
| } |
| if(UBat < BattLowVoltageWarning) |
| { |
| FCFlags |= FCFLAG_LOWBAT; |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| else if(!beeptime) FCFlags &= ~FCFLAG_LOWBAT; |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |
| if(!MotorenEin) timer2 = 1450; // 0,5 Minuten aufrunden |
| else |
| if(++second == 49) |
| { |
| second = 0; |
| FlugSekunden++; |
| } |
| if(++timer2 == 2930) // eine Minute |
| { |
| timer2 = 0; |
| FlugMinuten++; |
| FlugMinutenGesamt++; |
| SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
| SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
| timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| } |
| } |
| LED_Update(); |
| Capacity_Update(); |
| } |
| } |
| if(!SendSPI) { SPI_TransmitByte(); } |
| } |
| return (1); |
| } |
| /branches/Znib/V0.80f/main.h |
|---|
| 0,0 → 1,75 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| //#define DEBUG // use to activate debug output to MK-Tool: use Debug(text); |
| //#define ACT_S3D_SUMMENSIGNAL |
| //#define SWITCH_LEARNS_CAREFREE |
| //#define RECEIVER_SPEKTRUM_EXP |
| // neue Hardware |
| #define ROT_OFF {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB &=~0x01; else PORTB |= 0x01;} |
| #define ROT_ON {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) 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 SYSCLK F_CPU |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define J3High PORTD |= 0x20 |
| #define J3Low PORTD &= ~0x20 |
| #define J4High PORTD |= 0x10 |
| #define J4Low PORTD &= ~0x10 |
| #define J5High PORTD |= 0x08 |
| #define J5Low PORTD &= ~0x08 |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char BattLowVoltageWarning; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| extern unsigned char SendVersionToNavi; |
| extern unsigned char FoundMotors; |
| void LipoDetection(unsigned char print); |
| extern unsigned int FlugMinuten,FlugMinutenGesamt,FlugSekunden; |
| #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 "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" |
| #include "spektrum.h" |
| #include "capacity.h" |
| #include "eeprom.h" |
| #include "libfc.h" |
| #include "debug.h" |
| #endif //_MAIN_H |
| /branches/Znib/V0.80f/makefile |
|---|
| 0,0 → 1,464 |
| #-------------------------------------------------------------------- |
| # MCU name |
| #MCU = atmega1284p |
| MCU = atmega644p |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 80 |
| VERSION_PATCH = 5 |
| VERSION_SERIAL_MAJOR = 11 # Serial Protocol |
| VERSION_SERIAL_MINOR = 0 # Serial Protocol |
| NC_SPI_COMPATIBLE = 14 # Navi-Kompatibilität |
| #------------------------------------------------------------------- |
| # get SVN revision |
| REV := $(shell sh -c "cat .svn/entries | sed -n '4p'") |
| ifeq ($(MCU), atmega1284p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA1284P |
| LIBFC_EXT = 1284 |
| endif |
| ifeq ($(MCU), atmega644p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA644 |
| LIBFC_EXT = 644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| ifeq ($(VERSION_PATCH), 0) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 8) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 9) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 10) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 11) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)L_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 12) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 13) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 14) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 15) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 16) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 17) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 18) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)s_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 19) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)t_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 20) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)u_SVN$(REV) |
| 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 |
| #OPT = 2 |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c timer0.c analog.c menu.c eeprom.c |
| SRC += twimaster.c rc.c fc.c GPS.c spi.c led.c Spektrum.c |
| SRC += mymath.c jetimenu.c capacity.c debug.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = isqrt.S |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns=$(<:%.c=%.lst) $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| # shrink code size |
| CFLAGS += -mtiny-stack |
| #CFLAGS += -fno-inline-functions |
| CFLAGS += -mcall-prologues |
| CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| LDFLAGS += libfc$(LIBFC_EXT).a |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = stk200 |
| #AVRDUDE_PROGRAMMER = ponyser |
| AVRDUDE_PROGRAMMER = avrispv2 |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| #AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| AVRDUDE_PORT = usb # programmer connected to USB |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| #avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -x -A $(TARGET).elf |
| LIMITS = $(SIZE) --mcu=$(MCU) -C $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo Size before:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo Size after:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| $(REMOVE) Flight-Ctrl_*.hex |
| $(REMOVE) Flight-Ctrl_*.eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) Flight-Ctrl_*.elf |
| $(REMOVE) Flight-Ctrl_*.map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) Flight-Ctrl_*.sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| $(REMOVE) $(SRC:.c=.o) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:%.c=%.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/Znib/V0.80f/menu.c |
|---|
| 0,0 → 1,204 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "eeprom.h" |
| char DisplayBuff[80] = "Hello World"; |
| unsigned char DispPtr = 0; |
| unsigned char MaxMenue = 17; |
| unsigned char MenuePunkt = 0; |
| unsigned char RemoteKeys = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu_Putchar(char c) |
| { |
| DisplayBuff[DispPtr++] = c; |
| } |
| void Menu(void) |
| { |
| if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
| if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
| if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
| LcdClear(); |
| if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
| else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"+ MikroKopter +"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
| LCD_printfxy(0,2,"Setting:%d %s", GetActiveParamSet(),Mixer.Name); |
| if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
| else |
| if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
| else |
| if(VersionInfo.HardwareError[1] & DEFEKT_MIXER_ERR) LCD_printfxy(0,3,"Mixer Error!") |
| else |
| // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
| // else |
| if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
| LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
| LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
| } |
| else |
| { |
| LCD_printfxy(0,0,"Height control"); |
| LCD_printfxy(0,1,"DISABLED"); |
| LCD_printfxy(0,2,"Height control"); |
| LCD_printfxy(0,3,"DISABLED"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"act. bearing"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Compass: %5i",KompassValue); |
| 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]); |
| 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]]+120,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+110); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+110,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+110); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| if(PlatinenVersion == 10) |
| { |
| LCD_printfxy(0,1,"Nick%4i (%3i.%i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/8, AdNeutralNick%8); |
| LCD_printfxy(0,2,"Roll%4i (%3i.%i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/8, AdNeutralRoll%8); |
| LCD_printfxy(0,3,"Gier%4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
| } |
| else |
| if((PlatinenVersion == 11) || (PlatinenVersion >= 20)) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i.%x)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16, (AdNeutralNick%16)/2); |
| LCD_printfxy(0,2,"Roll %4i (%3i.%x)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16, (AdNeutralRoll%16)/2); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2); |
| } |
| else |
| if(PlatinenVersion == 13) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)(%3i)",AdWertNick - AdNeutralNick/8, AdNeutralNick/16,AnalogOffsetNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)(%3i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll/16,AnalogOffsetRoll); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdNeutralGier - AdWertGier, AdNeutralGier/2,AnalogOffsetGier); |
| } |
| break; |
| case 6: |
| 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,"Z %4i (%3i)",AdWertAccHoch,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
| LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Receiver"); |
| LCD_printfxy(0,1,"RC-RSSI: %4i", PPM_in[0]); |
| LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
| LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Compass"); |
| LCD_printfxy(0,1,"Heading: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Value: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti[0]); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti[1]); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti[2]); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti[3]); |
| break; |
| case 11: |
| LCD_printfxy(0,0,"Poti5: %3i",Poti[4]); |
| LCD_printfxy(0,1,"Poti6: %3i",Poti[5]); |
| LCD_printfxy(0,2,"Poti7: %3i",Poti[6]); |
| LCD_printfxy(0,3,"Poti8: %3i",Poti[7]); |
| break; |
| case 12: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| case 13: |
| 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); |
| break; |
| case 14: |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| LCD_printfxy(0,1,"%3d %3d %3d %3d ",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK,Motor[2].State & MOTOR_STATE_ERROR_MASK,Motor[3].State & MOTOR_STATE_ERROR_MASK); |
| LCD_printfxy(0,2,"%3d %3d %3d %3d ",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK,Motor[6].State & MOTOR_STATE_ERROR_MASK,Motor[7].State & MOTOR_STATE_ERROR_MASK); |
| LCD_printfxy(0,3,"%3d %3d %3d %3d ",Motor[8].State & MOTOR_STATE_ERROR_MASK,Motor[9].State & MOTOR_STATE_ERROR_MASK,Motor[10].State & MOTOR_STATE_ERROR_MASK,Motor[11].State & MOTOR_STATE_ERROR_MASK); |
| break; |
| case 15: |
| LCD_printfxy(0,0,"BL Temperature" ); |
| LCD_printfxy(0,1,"%3i %3i %3i %3i ",Motor[0].Temperature,Motor[1].Temperature,Motor[2].Temperature,Motor[3].Temperature); |
| LCD_printfxy(0,2,"%3i %3i %3i %3i ",Motor[4].Temperature,Motor[5].Temperature,Motor[6].Temperature,Motor[7].Temperature); |
| LCD_printfxy(0,3,"%3i %3i %3i %3i ",Motor[8].Temperature,Motor[9].Temperature,Motor[10].Temperature,Motor[11].Temperature); |
| break; |
| case 16: |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7)); |
| LCD_printfxy(0,2," %c %c %c %c ",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7)); |
| LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
| if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
| if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
| if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
| break; |
| case 17: |
| LCD_printfxy(0,0,"Flight-Time " ); |
| LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
| LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
| LCD_printfxy(13,3,"(reset)"); |
| if(RemoteKeys & KEY4) |
| { |
| FlugMinuten = 0; |
| SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
| } |
| break; |
| default: |
| if(MenuePunkt == MaxMenue) MaxMenue--; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteKeys = 0; |
| } |
| /branches/Znib/V0.80f/menu.h |
|---|
| 0,0 → 1,17 |
| #ifndef _MENU_H |
| #define _MENU_H |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern void Menu_Putchar(char c); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| extern unsigned char MaxMenue; |
| extern unsigned char MenuePunkt; |
| extern unsigned char RemoteKeys; |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(&Menu_Putchar,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(&Menu_Putchar, PSTR(format) , ## args);} |
| #endif //_MENU_H |
| /branches/Znib/V0.80f/mymath.c |
|---|
| 0,0 → 1,41 |
| #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)); |
| } |
| /branches/Znib/V0.80f/mymath.h |
|---|
| 0,0 → 1,10 |
| #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 a); |
| #endif // _MYMATH_H |
| /branches/Znib/V0.80f/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /branches/Znib/V0.80f/printf_P.h |
|---|
| 0,0 → 1,69 |
| // 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 |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library 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 General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 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. |
| */ |
| /******************************************************************************/ |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| // function pointer to external callback function |
| typedef void (*pVoidFnctChar) (char ); |
| typedef void (*pVoidFnct_pVoidFnctChar_const_fmt) (pVoidFnctChar, char const *fmt0, ...); |
| extern pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| #endif //_PRINTF_P_H_ |
| /branches/Znib/V0.80f/rc.c |
|---|
| 0,0 → 1,217 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
| volatile int PPM_in[26]; |
| volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
| volatile char Channels,tmpChannels = 0; |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| unsigned char i; |
| for(i=0;i<26;i++) |
| { |
| PPM_in[i] = 0; |
| PPM_diff[i] = 0; |
| } |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| #ifndef ACT_S3D_SUMMENSIGNAL |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| ISR(TIMER1_CAPT_vect) |
| //############################################################################ |
| { |
| if(!(EE_Parameter.ExtraConfig & CFG_SENSITIVE_RC)) |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| Channels = index; |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
| 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; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| if(PlatinenVersion < 20) |
| { |
| if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| } |
| } |
| } |
| } |
| else |
| { |
| static unsigned int AltICR=0; |
| static int ppm_in[13]; |
| static int ppm_diff[13]; |
| static int old_ppm_in[13]; |
| static int old_ppm_diff[13]; |
| signed int signal = 0,tmp; |
| static unsigned char index, okay_cnt = 0; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| tmpChannels = index; |
| if(tmpChannels >= 4 && Channels == tmpChannels) |
| { |
| if(okay_cnt > 10) |
| { |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| for(index = 0; index < 13; index++) |
| { |
| if(okay_cnt > 30) |
| { |
| old_ppm_in[index] = PPM_in[index]; |
| old_ppm_diff[index] = PPM_diff[index]; |
| } |
| PPM_in[index] = ppm_in[index]; |
| PPM_diff[index] = ppm_diff[index]; |
| } |
| } |
| if(okay_cnt < 255) okay_cnt++; |
| } |
| else |
| { |
| if(okay_cnt > 100) okay_cnt = 10; else okay_cnt = 0; |
| ROT_ON; |
| } |
| index = 1; |
| if(!MotorenEin) Channels = tmpChannels; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if((abs(signal - ppm_in[index]) < 6)) |
| { |
| if(okay_cnt > 25) SenderOkay += 10; |
| else |
| if(okay_cnt > 10) SenderOkay += 2; |
| if(SenderOkay > 200) SenderOkay = 200; |
| } |
| tmp = (3 * (ppm_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 190) ppm_diff[index] = ((tmp - ppm_in[index]) / 3) * 3; |
| else ppm_diff[index] = 0; |
| ppm_in[index] = tmp; |
| } |
| else ROT_ON; |
| if(PlatinenVersion < 20) |
| { |
| if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| if(index == 6) J4High; else J4Low; // Servosignal an J4 anlegen |
| if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| } |
| } |
| if(index < 20) index++; |
| else |
| if(index == 20) |
| { |
| unsigned char i; |
| ROT_ON; |
| index = 30; |
| for(i=0;i<13;i++) // restore from older data |
| { |
| PPM_in[i] = old_ppm_in[i]; |
| PPM_diff[i] = 0; |
| // okay_cnt /= 2; |
| } |
| } |
| } |
| } |
| } |
| #else |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| ISR(TIMER1_CAPT_vect) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| signal /= 2; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if((signal > 1100*2) && (signal < 8000*2)) |
| { |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 13) |
| { |
| if((signal > 250) && (signal < 687*2)) |
| { |
| signal -= 962; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| } |
| } |
| } |
| #endif |
| /branches/Znib/V0.80f/rc.h |
|---|
| 0,0 → 1,31 |
| /*####################################################################################### |
| 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_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[26]; |
| extern volatile int PPM_diff[26]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| extern volatile char Channels,tmpChannels; |
| #endif //_RC_H |
| /branches/Znib/V0.80f/spi.c |
|---|
| 0,0 → 1,330 |
| // ######################## SPI - FlightCtrl ################### |
| #include "main.h" |
| #include "eeprom.h" |
| //struct str_ToNaviCtrl_Version ToNaviCtrl_Version; |
| //struct str_FromNaviCtrl_Version FromNaviCtrl_Version; |
| struct str_ToNaviCtrl ToNaviCtrl; |
| struct str_FromNaviCtrl FromNaviCtrl; |
| struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
| struct str_SPI_VersionInfo NC_Version; |
| struct str_GPSInfo GPSInfo; |
| unsigned char SPI_BufferIndex; |
| unsigned char SPI_RxBufferIndex; |
| signed char FromNC_Rotate_C = 32, FromNC_Rotate_S = 0; |
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *SPI_TX_Buffer; |
| unsigned char SPITransferCompleted, SPI_ChkSum; |
| unsigned char SPI_RxDataValid,NaviDataOkay = 250; |
| unsigned char SPI_CommandSequence[] = {SPI_FCCMD_STICK, SPI_FCCMD_USER, SPI_FCCMD_PARAMETER1, SPI_FCCMD_STICK, SPI_FCCMD_MISC, SPI_FCCMD_VERSION, SPI_FCCMD_STICK, SPI_FCCMD_SERVOS, SPI_FCCMD_ACCU}; |
| unsigned char SPI_CommandCounter = 0; |
| unsigned char NC_ErrorCode = 0; |
| #ifdef USE_SPI_COMMUNICATION |
| //------------------------------------------------------ |
| 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_FCCMD_USER; |
| ToNaviCtrl.IntegralNick = 0; |
| ToNaviCtrl.IntegralRoll = 0; |
| FromNaviCtrl_Value.SerialDataOkay = 0; |
| SPI_RxDataValid = 0; |
| } |
| //------------------------------------------------------ |
| void SPI_StartTransmitPacket(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 |
| 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 |
| } |
| //------------------------------------------------------ |
| //SIGNAL(SIG_SPI) |
| void SPI_TransmitByte(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; |
| 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; |
| 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 |
| } |
| else SPITransferCompleted = 1; |
| SPI_BufferIndex++; |
| } |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| { |
| signed int tmp; |
| ToNaviCtrl.IntegralNick = (int) (IntegralNick / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| ToNaviCtrl.IntegralRoll = (int) (IntegralRoll / (long)(EE_Parameter.GyroAccFaktor * 4)); |
| ToNaviCtrl.GyroCompass = (10 * ErsatzKompass) / GIER_GRAD_FAKTOR; |
| ToNaviCtrl.GyroGier = (signed int) AdNeutralGier - AdWertGier; |
| ToNaviCtrl.AccNick = ((int) ACC_AMPLIFY * (NaviAccNick / NaviCntAcc))/4; |
| ToNaviCtrl.AccRoll = ((int) ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc))/4; |
| NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
| // ToNaviCtrl.User8 = Parameter_UserParam8; |
| // ToNaviCtrl.CalState = WinkelOut.CalcState; |
| switch(ToNaviCtrl.Command) // |
| { |
| case SPI_FCCMD_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; |
| ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
| ToNaviCtrl.Param.Byte[8] = (unsigned char) FCFlags; |
| FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START); |
| ToNaviCtrl.Param.Byte[9] = GetActiveParamSet(); |
| ToNaviCtrl.Param.Byte[10] = ControlHeading; |
| break; |
| case SPI_FCCMD_ACCU: |
| ToNaviCtrl.Param.Int[0] = Capacity.ActualCurrent; // 0.1A |
| ToNaviCtrl.Param.Int[1] = Capacity.UsedCapacity; // mAh |
| ToNaviCtrl.Param.Byte[4] = (unsigned char) UBat; // 0.1V |
| ToNaviCtrl.Param.Byte[5] = (unsigned char) BattLowVoltageWarning; //0.1V |
| break; |
| case SPI_FCCMD_PARAMETER1: |
| ToNaviCtrl.Param.Byte[0] = EE_Parameter.NaviGpsModeControl; // Parameters for the Naviboard |
| ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviGpsGain; |
| ToNaviCtrl.Param.Byte[2] = EE_Parameter.NaviGpsP; |
| ToNaviCtrl.Param.Byte[3] = EE_Parameter.NaviGpsI; |
| ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsD; |
| ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsACC; |
| ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsMinSat; |
| ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviStickThreshold; |
| ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviOperatingRadius; |
| ToNaviCtrl.Param.Byte[9] = EE_Parameter.NaviWindCorrection; |
| ToNaviCtrl.Param.Byte[10] = EE_Parameter.NaviSpeedCompensation; |
| ToNaviCtrl.Param.Byte[11] = EE_Parameter.NaviAngleLimitation; |
| break; |
| case SPI_FCCMD_STICK: |
| cli(); |
| 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; |
| sei(); |
| ToNaviCtrl.Param.Byte[3] = (char) tmp; |
| ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti[0]; |
| ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti[1]; |
| ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti[2]; |
| ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti[3]; |
| ToNaviCtrl.Param.Byte[8] = (unsigned char) Poti[4]; |
| ToNaviCtrl.Param.Byte[9] = (unsigned char) Poti[5]; |
| ToNaviCtrl.Param.Byte[10] = (unsigned char) Poti[6]; |
| ToNaviCtrl.Param.Byte[11] = (unsigned char) Poti[7]; |
| break; |
| case SPI_FCCMD_MISC: |
| if(WinkelOut.CalcState > 5) |
| { |
| WinkelOut.CalcState = 0; |
| ToNaviCtrl.Param.Byte[0] = 5; |
| } |
| else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
| ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
| ToNaviCtrl.Param.Int[1] = (int)(HoehenWert/5); |
| ToNaviCtrl.Param.Int[2] = (int)(SollHoehe/5); |
| ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsPLimit; |
| ToNaviCtrl.Param.Byte[7] = EE_Parameter.NaviGpsILimit; |
| ToNaviCtrl.Param.Byte[8] = EE_Parameter.NaviGpsDLimit; |
| ToNaviCtrl.Param.Byte[9] = (unsigned char) SenderOkay; |
| ToNaviCtrl.Param.Byte[10] = (unsigned char) PPM_in[0]; |
| ToNaviCtrl.Param.Byte[11] = DebugOut.Analog[7] / 4; //GasMischanteil |
| break; |
| case SPI_FCCMD_VERSION: |
| ToNaviCtrl.Param.Byte[0] = VERSION_MAJOR; |
| ToNaviCtrl.Param.Byte[1] = VERSION_MINOR; |
| ToNaviCtrl.Param.Byte[2] = VERSION_PATCH; |
| ToNaviCtrl.Param.Byte[3] = NC_SPI_COMPATIBLE; |
| ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
| ToNaviCtrl.Param.Byte[5] = VersionInfo.HardwareError[0]; |
| ToNaviCtrl.Param.Byte[6] = VersionInfo.HardwareError[1]; |
| ToNaviCtrl.Param.Byte[7] = VersionInfo.HardwareError[2]; |
| break; |
| case SPI_FCCMD_SERVOS: |
| ToNaviCtrl.Param.Byte[0] = EE_Parameter.ServoNickRefresh; // Parameters for the Servo Control |
| ToNaviCtrl.Param.Byte[1] = EE_Parameter.ServoCompInvert; |
| ToNaviCtrl.Param.Byte[2] = Parameter_ServoNickControl; |
| ToNaviCtrl.Param.Byte[3] = EE_Parameter.ServoNickComp; |
| ToNaviCtrl.Param.Byte[4] = EE_Parameter.ServoNickMin; |
| ToNaviCtrl.Param.Byte[5] = EE_Parameter.ServoNickMax; |
| ToNaviCtrl.Param.Byte[6] = Parameter_ServoRollControl; |
| ToNaviCtrl.Param.Byte[7] = EE_Parameter.ServoRollComp; |
| ToNaviCtrl.Param.Byte[8] = EE_Parameter.ServoRollMin; |
| ToNaviCtrl.Param.Byte[9] = EE_Parameter.ServoRollMax; |
| break; |
| } |
| if(SPI_RxDataValid) |
| { |
| NaviDataOkay = 250; |
| 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_NCCMD_KALMAN: |
| FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0]; |
| FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1]; |
| FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2]; |
| FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
| FromNaviCtrl_Value.GpsZ = FromNaviCtrl.Param.Byte[4]; |
| FromNC_Rotate_C = FromNaviCtrl.Param.Byte[5]; |
| FromNC_Rotate_S = FromNaviCtrl.Param.Byte[6]; |
| break; |
| case SPI_NCCMD_VERSION: |
| NC_Version.Major = FromNaviCtrl.Param.Byte[0]; |
| NC_Version.Minor = FromNaviCtrl.Param.Byte[1]; |
| NC_Version.Patch = FromNaviCtrl.Param.Byte[2]; |
| NC_Version.Compatible = FromNaviCtrl.Param.Byte[3]; |
| NC_Version.Hardware = FromNaviCtrl.Param.Byte[4]; |
| DebugOut.Status[0] |= FromNaviCtrl.Param.Byte[5]; |
| NC_ErrorCode = FromNaviCtrl.Param.Byte[6]; |
| DebugOut.Status[1] = (DebugOut.Status[1] & (0x01|0x02)) | (FromNaviCtrl.Param.Byte[6] & (0x04 | 0x08)); |
| break; |
| case SPI_NCCMD_GPSINFO: |
| GPSInfo.Flags = FromNaviCtrl.Param.Byte[0]; |
| GPSInfo.NumOfSats = FromNaviCtrl.Param.Byte[1]; |
| GPSInfo.SatFix = FromNaviCtrl.Param.Byte[2]; |
| GPSInfo.Speed = FromNaviCtrl.Param.Byte[3]; |
| GPSInfo.HomeDistance = FromNaviCtrl.Param.Int[2]; |
| GPSInfo.HomeBearing = FromNaviCtrl.Param.sInt[3]; |
| break; |
| default: |
| break; |
| } |
| } |
| else |
| { |
| // KompassValue = 0; |
| // KompassRichtung = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| } |
| #endif |
| /branches/Znib/V0.80f/spi.h |
|---|
| 0,0 → 1,183 |
| // ######################## SPI - FlightCtrl ################### |
| #ifndef _SPI_H |
| #define _SPI_H |
| #include <util/delay.h> |
| #define USE_SPI_COMMUNICATION |
| //----------------------------------------- |
| #define DDR_SPI DDRB |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| #define SLAVE_SELECT_PORT PORTC |
| #if defined(__AVR_ATmega1284P__) |
| #define DD_SS PORTB4 |
| #define DD_SCK PORTB7 |
| #define DD_MOSI PORTB5 |
| #define DD_MISO PORTB6 |
| #define SPI_SLAVE_SELECT PORTC5 |
| #else |
| #define DD_SS PB4 |
| #define DD_SCK PB7 |
| #define DD_MOSI PB5 |
| #define DD_MISO PB6 |
| #define SPI_SLAVE_SELECT PC5 |
| #endif |
| // 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 SPI_FCCMD_USER 10 |
| #define SPI_FCCMD_STICK 11 |
| #define SPI_FCCMD_MISC 12 |
| #define SPI_FCCMD_PARAMETER1 13 |
| #define SPI_FCCMD_VERSION 14 |
| #define SPI_FCCMD_SERVOS 15 |
| #define SPI_FCCMD_ACCU 16 |
| 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 |
| { |
| unsigned char Byte[12]; |
| char sByte[12]; |
| unsigned int Int[6]; |
| int sInt[6]; |
| unsigned long Long[3]; |
| long sLong[3]; |
| float Float[3]; |
| } Param; |
| unsigned char Chksum; |
| }; |
| #define SPI_NCCMD_KALMAN 103 |
| #define SPI_NCCMD_VERSION 104 |
| #define SPI_NCCMD_GPSINFO 105 |
| 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 int BeepTime; |
| union |
| { |
| unsigned char Byte[12]; |
| char sByte[12]; |
| unsigned int Int[6]; |
| int sInt[6]; |
| unsigned long Long[3]; |
| long sLong[3]; |
| float Float[3]; |
| } Param; |
| unsigned char Chksum; |
| }; |
| struct str_FromNaviCtrl_Value |
| { |
| signed char Kalman_K; |
| signed char Kalman_MaxDrift; |
| signed char Kalman_MaxFusion; |
| unsigned char SerialDataOkay; |
| signed char GpsZ; |
| }; |
| struct str_SPI_VersionInfo |
| { |
| unsigned char Major; |
| unsigned char Minor; |
| unsigned char Patch; |
| unsigned char Compatible; |
| unsigned char Hardware; |
| }; |
| // Satfix types for GPSData.SatFix |
| #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 |
| // Flags for interpretation of the GPSData.Flags |
| #define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
| #define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
| #define FLAG_WKNSET 0x04 // (is Week Number valid) |
| #define FLAG_TOWSET 0x08 // (is Time of Week valid) |
| struct str_GPSInfo |
| { |
| unsigned char Flags; // Status Flags |
| unsigned char NumOfSats; // number of satelites |
| unsigned char SatFix; // type of satfix |
| unsigned char Speed; // m/sek |
| unsigned int HomeDistance; // distance to Home in dm |
| int HomeBearing; // bearing to home in deg |
| }; |
| #ifdef USE_SPI_COMMUNICATION |
| extern struct str_GPSInfo GPSInfo; |
| extern struct str_SPI_VersionInfo NC_Version; |
| extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
| extern struct str_ToNaviCtrl ToNaviCtrl; |
| extern struct str_FromNaviCtrl FromNaviCtrl; |
| extern unsigned char SPI_CommandCounter,NaviDataOkay; |
| extern signed char FromNC_Rotate_C, FromNC_Rotate_S; |
| extern unsigned char NC_ErrorCode; |
| 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/Znib/V0.80f/timer0.c |
|---|
| 0,0 → 1,404 |
| #include "main.h" |
| 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, ServoActive = 0; |
| unsigned int BeepMuster = 0xffff; |
| volatile int16_t ServoNickValue = 0; |
| volatile int16_t ServoRollValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| ISR(TIMER0_OVF_vect) // 9,7kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
| unsigned char pieper_ein = 0; |
| if(SendSPI) SendSPI--; |
| if(SpektrumTimer) SpektrumTimer--; |
| if(!cnt--) |
| { |
| cnt = 9; |
| CountMilliseconds++; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| if(!(PINC & 0x10)) compass_active = 1; |
| if(beeptime) |
| { |
| if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| } |
| 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(compass_active && !NaviDataOkay && EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| if(++cntKompass > 1000) compass_active = 0; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 362)) |
| { |
| cntKompass += cntKompass / 41; |
| if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| } |
| cntKompass = 0; |
| } |
| } |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| void Delay_ms_Mess(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
| } |
| /*****************************************************/ |
| /* Initialize Timer 2 */ |
| /*****************************************************/ |
| // The timer 2 is used to generate the PWM at PD7 (J7) |
| // to control a camera servo for nick compensation. |
| void TIMER2_Init(void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| PORTD &= ~(1<<PORTD7); // set PD7 to low |
| DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
| HEF4017R_ON; |
| // Timer/Counter 2 Control Register A |
| // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
| // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
| // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
| TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
| TCCR2A |= (1<<WGM21)|(1<<WGM20); |
| // Timer/Counter 2 Control Register B |
| // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
| // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
| // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
| // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
| TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
| TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
| // Initialize the Timer/Counter 2 Register |
| TCNT2 = 0; |
| // Initialize the Output Compare Register A used for PWM generation on port PD7. |
| OCR2A = 255; |
| TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
| // Timer/Counter 2 Interrupt Mask Register |
| // Enable timer output compare match A Interrupt only |
| TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
| TIMSK2 |= (1<<OCIE2A); |
| SREG = sreg; |
| } |
| //---------------------------- |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 180; |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TIMSK0 |= _BV(TOIE0); |
| } |
| /*****************************************************/ |
| /* Control Servo Position */ |
| /*****************************************************/ |
| ISR(TIMER2_COMPA_vect) |
| { |
| // frame len 22.5 ms = 14063 * 1.6 us |
| // stop pulse: 0.3 ms = 188 * 1.6 us |
| // min servo pulse: 0.6 ms = 375 * 1.6 us |
| // max servo pulse: 2.4 ms = 1500 * 1.6 us |
| // resolution: 1500 - 375 = 1125 steps |
| #define IRS_RUNTIME 127 |
| #define PPM_STOPPULSE 188 |
| // #define PPM_FRAMELEN (14063 |
| #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
| #define MINSERVOPULSE 375 |
| #define MAXSERVOPULSE 1500 |
| #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
| static uint8_t PulseOutput = 0; |
| static uint16_t RemainingPulse = 0; |
| static uint16_t ServoFrameTime = 0; |
| static uint8_t ServoIndex = 0; |
| #define MULTIPLYER 4 |
| static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center positon |
| if(PlatinenVersion < 20) |
| { |
| //--------------------------- |
| // Nick servo state machine |
| //--------------------------- |
| if(!PulseOutput) // pulse output complete |
| { |
| if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
| { |
| TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
| ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo |
| ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
| } |
| // limit servo value to its parameter range definition |
| if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
| } |
| else |
| if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
| } |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| ServoNickValue /= MULTIPLYER; |
| // range servo pulse width |
| if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| // accumulate time for correct update rate |
| ServoFrameTime = RemainingPulse; |
| } |
| else // we had a high pulse |
| { |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
| } |
| // set pulse output active |
| PulseOutput = 1; |
| } |
| } // EOF Nick servo state machine |
| else |
| { |
| //----------------------------------------------------- |
| // PPM state machine, onboard demultiplexed by HEF4017 |
| //----------------------------------------------------- |
| if(!PulseOutput) // pulse output complete |
| { |
| if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
| { |
| TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| if(ServoIndex == 0) // if we are at the sync gap |
| { |
| RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
| ServoFrameTime = 0; // reset servo frame time |
| HEF4017R_ON; // enable HEF4017 reset |
| } |
| else // servo channels |
| { |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| switch(ServoIndex) // map servo channels |
| { |
| case 1: // Nick Compensation Servo |
| ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
| ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo |
| ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
| } |
| // limit servo value to its parameter range definition |
| if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
| } |
| else |
| if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
| } |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| ServoNickValue /= MULTIPLYER; |
| break; |
| case 2: // Roll Compensation Servo |
| ServoRollOffset = (ServoRollOffset * 3 + (int16_t) Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset |
| ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoCompInvert & 0x02) |
| { // inverting movement of servo |
| ServoRollValue += (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo |
| ServoRollValue -= (int16_t)( ( (int32_t) EE_Parameter.ServoRollComp * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
| } |
| // limit servo value to its parameter range definition |
| if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
| { |
| ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
| } |
| else |
| if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER) ) |
| { |
| ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
| } |
| RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| ServoRollValue /= MULTIPLYER; |
| //DebugOut.Analog[20] = ServoRollValue; |
| break; |
| case 3: |
| RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| case 4: |
| RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| case 5: |
| RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| default: // other servo channels |
| RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
| break; |
| } |
| // range servo pulse width |
| if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| // substract stop pulse width |
| RemainingPulse -= PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += RemainingPulse; |
| } |
| } |
| else // we had a high pulse |
| { |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| // set pulsewidth to stop pulse width |
| RemainingPulse = PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += RemainingPulse; |
| if((ServoActive && SenderOkay > 180) || ServoActive == 2) HEF4017R_OFF; // disable HEF4017 reset |
| else HEF4017R_ON; |
| ServoIndex++; // change to next servo channel |
| if(ServoIndex > EE_Parameter.ServoNickRefresh) ServoIndex = 0; // reset to the sync gap |
| } |
| // set pulse output active |
| PulseOutput = 1; |
| } |
| } // EOF PPM state machine |
| // General pulse output generator |
| if(RemainingPulse > (255 + IRS_RUNTIME)) |
| { |
| OCR2A = 255; |
| RemainingPulse -= 255; |
| } |
| else |
| { |
| if(RemainingPulse > 255) // this is the 2nd last part |
| { |
| if((RemainingPulse - 255) < IRS_RUNTIME) |
| { |
| OCR2A = 255 - IRS_RUNTIME; |
| RemainingPulse -= 255 - IRS_RUNTIME; |
| } |
| else // last part > ISR_RUNTIME |
| { |
| OCR2A = 255; |
| RemainingPulse -= 255; |
| } |
| } |
| else // this is the last part |
| { |
| OCR2A = RemainingPulse; |
| RemainingPulse = 0; |
| PulseOutput = 0; // trigger to stop pulse |
| } |
| } // EOF general pulse output generator |
| } |
| /branches/Znib/V0.80f/timer0.h |
|---|
| 0,0 → 1,21 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| #define HEF4017R_ON PORTC |= (1<<PORTC6) |
| #define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
| void Timer_Init(void); |
| void TIMER2_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 BeepMuster; |
| extern volatile unsigned char SendSPI, ServoActive; |
| extern volatile int16_t ServoNickValue; |
| extern volatile int16_t ServoRollValue; |
| /branches/Znib/V0.80f/twimaster.c |
|---|
| 0,0 → 1,467 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + 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 |
| // + 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, |
| // + 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 |
| // + for non-commercial use (directly or indirectly) |
| // + 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 |
| // + * 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 |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <util/twi.h> |
| #include "eeprom.h" |
| #include "twimaster.h" |
| #include "fc.h" |
| #include "analog.h" |
| #include "uart.h" |
| #include "timer0.h" |
| volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
| volatile uint8_t dac_channel = 0; |
| volatile uint8_t motor_write = 0; |
| volatile uint8_t motor_read = 0; |
| volatile uint16_t I2CTimeout = 100; |
| uint8_t MissingMotor = 0; |
| volatile uint8_t BLFlags = 0; |
| MotorData_t Motor[MAX_MOTORS]; |
| // bit mask for witch BL the configuration should be sent |
| volatile uint16_t BLConfig_WriteMask = 0; |
| // bit mask for witch BL the configuration should be read |
| volatile uint16_t BLConfig_ReadMask = 0; |
| // buffer for BL Configuration |
| BLConfig_t BLConfig; |
| #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
| #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
| #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define TWI_BASE_ADDRESS 0x52 |
| /**************************************************/ |
| /* Initialize I2C (TWI) */ |
| /**************************************************/ |
| void I2C_Init(void) |
| { |
| uint8_t i; |
| 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 = ((F_CPU/SCL_CLOCK)-16)/2; |
| twi_state = TWI_STATE_MOTOR_TX; |
| motor_write = 0; |
| motor_read = 0; |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| Motor[i].Version = 0; |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| Motor[i].State = 0; |
| Motor[i].ReadMode = BL_READMODE_STATUS; |
| Motor[i].Current = 0; |
| Motor[i].MaxPWM = 0; |
| Motor[i].Temperature = 0; |
| } |
| SREG = sreg; |
| } |
| void I2C_Reset(void) |
| { |
| // stop i2c bus |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| motor_write = 0; |
| motor_read = 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_WriteByte(0); |
| BLFlags |= BLFLAG_READ_VERSION; |
| } |
| /****************************************/ |
| /* I2C ISR */ |
| /****************************************/ |
| ISR (TWI_vect) |
| { |
| static uint8_t missing_motor = 0, motor_read_temperature = 0; |
| static uint8_t *pBuff = 0; |
| static uint8_t BuffLen = 0; |
| switch (twi_state++) |
| { |
| // Master Transmit |
| case 0: // TWI_STATE_MOTOR_TX |
| // skip motor if not used in mixer |
| while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
| if(motor_write >= MAX_MOTORS) // writing finished, read now |
| { |
| BLConfig_WriteMask = 0; // reset configuration bitmask |
| motor_write = 0; // reset motor write counter for next cycle |
| twi_state = TWI_STATE_MOTOR_RX; |
| I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
| } |
| else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
| break; |
| case 1: // Send Data to Slave |
| I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
| // if old version has been detected |
| if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
| { |
| twi_state = 4; //jump over sending more data |
| } |
| // the new version has been detected |
| else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
| { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
| twi_state = 4; //jump over sending more data |
| } |
| break; |
| case 2: // lower bits of setpoint (higher resolution) |
| if ((0x0001<<motor_write) & BLConfig_ReadMask) |
| { |
| Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
| } |
| else |
| { |
| Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
| } |
| // send read mode and the lower bits of setpoint |
| I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
| // configuration tranmission request? |
| if((0x0001<<motor_write) & BLConfig_WriteMask) |
| { // redirect tx pointer to configuration data |
| pBuff = (uint8_t*)&BLConfig; // select config for motor |
| BuffLen = sizeof(BLConfig_t); |
| } |
| else |
| { // jump to end of transmission for that motor |
| twi_state = 4; |
| } |
| break; |
| case 3: // send configuration |
| I2C_WriteByte(*pBuff); |
| pBuff++; |
| if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
| break; |
| case 4: // repeat case 0-4 for all motors |
| if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
| { |
| if(!missing_motor) missing_motor = motor_write + 1; |
| if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
| } |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| motor_write++; // next motor |
| I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
| break; |
| // Master Receive Data |
| case 5: // TWI_STATE_MOTOR_RX |
| if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
| { // no response from the addressed slave received |
| Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
| if(++motor_read >= MAX_MOTORS) |
| { // all motors read |
| motor_read = 0; // restart from beginning |
| BLConfig_ReadMask = 0; // reset read configuration bitmask |
| if(++motor_read_temperature >= MAX_MOTORS) |
| { |
| motor_read_temperature = 0; |
| BLFlags &= ~BLFLAG_READ_VERSION; |
| } |
| } |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| } |
| else |
| { // motor successfully addressed |
| Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
| if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
| { |
| // new BL found |
| switch(Motor[motor_read].ReadMode) |
| { |
| case BL_READMODE_CONFIG: |
| pBuff = (uint8_t*)&BLConfig; |
| BuffLen = sizeof(BLConfig_t); |
| break; |
| case BL_READMODE_STATUS: |
| pBuff = (uint8_t*)&(Motor[motor_read].Current); |
| if(motor_read == motor_read_temperature) BuffLen = 3; // read Current, MaxPwm & Temp |
| else BuffLen = 1;// read Current only |
| break; |
| } |
| } |
| else // old BL version |
| { |
| pBuff = (uint8_t*)&(Motor[motor_read].Current); |
| if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
| else BuffLen = 1; // read Current only |
| } |
| if(BuffLen == 1) |
| { |
| I2C_ReceiveLastByte(); // read last byte |
| } |
| else |
| { |
| I2C_ReceiveByte(); // read next byte |
| } |
| } |
| MissingMotor = missing_motor; |
| missing_motor = 0; |
| break; |
| case 6: // receive bytes |
| *pBuff = TWDR; |
| pBuff++; |
| BuffLen--; |
| if(BuffLen>1) |
| { |
| I2C_ReceiveByte(); // read next byte |
| } |
| else if (BuffLen == 1) |
| { |
| I2C_ReceiveLastByte(); // read last byte |
| } |
| else // nothing left |
| { |
| if(BLFlags & BLFLAG_READ_VERSION) |
| { |
| if(!(FCFlags & FCFLAG_MOTOR_RUN) && (Motor[motor_read].MaxPWM == 250) ) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
| else Motor[motor_read].Version = 0; |
| } |
| if(++motor_read >= MAX_MOTORS) |
| { |
| motor_read = 0; // restart from beginning |
| BLConfig_ReadMask = 0; // reset read configuration bitmask |
| if(++motor_read_temperature >= MAX_MOTORS) |
| { |
| motor_read_temperature = 0; |
| BLFlags &= ~BLFLAG_READ_VERSION; |
| } |
| } |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| return; |
| } |
| twi_state = 6; // if there are some bytes left |
| break; |
| // writing Gyro-Offsets |
| case 18: |
| I2C_WriteByte(0x98); // Address the DAC |
| break; |
| case 19: |
| I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
| break; |
| case 20: |
| switch(dac_channel) |
| { |
| case 0: |
| I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
| break; |
| case 1: |
| I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
| break; |
| case 2: |
| I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
| break; |
| } |
| break; |
| case 21: |
| I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
| break; |
| case 22: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| // repeat case 18...22 until all DAC Channels are updated |
| if(dac_channel < 2) |
| { |
| dac_channel ++; // jump to next channel |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
| } |
| else |
| { |
| dac_channel = 0; // reset dac channel counter |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| } |
| break; |
| default: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| I2CTimeout = 10; |
| motor_write = 0; |
| motor_read = 0; |
| break; |
| } |
| } |
| uint8_t I2C_WriteBLConfig(uint8_t motor) |
| { |
| uint8_t i; |
| uint16_t timer; |
| if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(motor) |
| { |
| if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
| } |
| // check BL configuration to send |
| if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| timer = SetDelay(2000); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| // prepare the bitmask |
| if(!motor) // 0 means all |
| { |
| BLConfig_WriteMask = 0xFF; // all motors at once with the same configuration |
| } |
| else //only one specific motor |
| { |
| BLConfig_WriteMask = 0x0001<<(motor-1); |
| } |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if((0x0001<<i) & BLConfig_WriteMask) |
| { |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| } |
| } |
| motor_write = 0; |
| // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| do |
| { |
| I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| }while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
| if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
| return(BLCONFIG_SUCCESS); |
| } |
| uint8_t I2C_ReadBLConfig(uint8_t motor) |
| { |
| uint8_t i; |
| uint16_t timer; |
| if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
| if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
| timer = SetDelay(2000); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| // prepare the bitmask |
| BLConfig_ReadMask = 0x0001<<(motor-1); |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if((0x0001<<i) & BLConfig_ReadMask) |
| { |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| } |
| } |
| motor_read = 0; |
| BLConfig.Revision = 0; // bad revision |
| BLConfig.crc = 0; // bad checksum |
| // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| do |
| { |
| I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| }while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
| // validate result |
| if(BLConfig.Revision != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| return(BLCONFIG_SUCCESS); |
| } |
| /branches/Znib/V0.80f/twimaster.h |
|---|
| 0,0 → 1,100 |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| + |
| +#include <inttypes.h> |
| + |
| +#define TWI_STATE_MOTOR_TX 0 |
| +#define TWI_STATE_MOTOR_RX 5 |
| +#define TWI_STATE_GYRO_OFFSET_TX 18 |
| + |
| +extern volatile uint8_t twi_state; |
| +extern volatile uint8_t motor_write; |
| +extern volatile uint8_t motor_read; |
| + |
| + |
| +extern uint8_t MissingMotor; |
| + |
| +#define MAX_MOTORS 12 |
| +#define MOTOR_STATE_PRESENT_MASK 0x80 |
| +#define MOTOR_STATE_ERROR_MASK 0x7F |
| + |
| +#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
| + |
| +#define BLFLAG_TX_COMPLETE 0x01 |
| +#define BLFLAG_READ_VERSION 0x02 |
| + |
| +extern volatile uint8_t BLFlags; |
| + |
| + |
| +#define BL_READMODE_STATUS 0 |
| +#define BL_READMODE_CONFIG 16 |
| + |
| +typedef struct |
| +{ |
| + uint8_t Version; // the version of the BL (0 = old) |
| + uint8_t SetPoint; // written by attitude controller |
| + uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
| + uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
| + uint8_t ReadMode; // select data to read |
| + // the following bytes must be exactly in that order! |
| + uint8_t Current; // in 0.1 A steps, read back from BL |
| + uint8_t MaxPWM; // read back from BL is less than 255 if BL is in current limit |
| + int8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C |
| +} __attribute__((packed)) MotorData_t; |
| + |
| +extern MotorData_t Motor[MAX_MOTORS]; |
| + |
| +#define BLCONFIG_REVISION 2 |
| + |
| +#define MASK_SET_PWM_SCALING 0x01 |
| +#define MASK_SET_CURRENT_LIMIT 0x02 |
| +#define MASK_SET_TEMP_LIMIT 0x04 |
| +#define MASK_SET_CURRENT_SCALING 0x08 |
| +#define MASK_SET_BITCONFIG 0x10 |
| +#define MASK_RESET_CAPCOUNTER 0x20 |
| +#define MASK_SET_DEFAULT_PARAMS 0x40 |
| +#define MASK_SET_SAVE_EEPROM 0x80 |
| + |
| +#define BITCONF_REVERSE_ROTATION 0x01 |
| +#define BITCONF_RES1 0x02 |
| +#define BITCONF_RES2 0x04 |
| +#define BITCONF_RES3 0x08 |
| +#define BITCONF_RES4 0x10 |
| +#define BITCONF_RES5 0x20 |
| +#define BITCONF_RES6 0x40 |
| +#define BITCONF_RES7 0x80 |
| + |
| +typedef struct |
| +{ |
| + uint8_t Revision; // must be BL_REVISION |
| + uint8_t SetMask; // settings mask |
| + uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
| + uint8_t CurrentLimit; // current limit in A |
| + uint8_t TempLimit; // in °C |
| + uint8_t CurrentScaling; // scaling factor for current measurement |
| + uint8_t BitConfig; // see defines above |
| + uint8_t crc; // checksum |
| +} __attribute__((packed)) BLConfig_t; |
| + |
| +extern BLConfig_t BLConfig; |
| + |
| +extern volatile uint16_t I2CTimeout; |
| + |
| +void I2C_Init (void); // Initialize I2C |
| +#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);} |
| +#define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);} |
| +void I2C_Reset(void); // Reset I2C |
| + |
| +#define BLCONFIG_SUCCESS 0 |
| +#define BLCONFIG_ERR_MOTOR_RUNNING 1 |
| +#define BLCONFIG_ERR_MOTOR_NOT_EXIST 2 |
| +#define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3 |
| +#define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4 |
| +#define BLCONFIG_ERR_CHECKSUM 5 |
| +#define BLCONFIG_ERR_READ_NOT_POSSIBLE 6 |
| + |
| +uint8_t I2C_WriteBLConfig(uint8_t motor); |
| +uint8_t I2C_ReadBLConfig(uint8_t motor); |
| + |
| +#endif |
| /branches/Znib/V0.80f/uart.c |
|---|
| 0,0 → 1,683 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdarg.h> |
| #include <string.h> |
| #include <avr/pgmspace.h> |
| #include "main.h" |
| #include "uart.h" |
| #include "libfc.h" |
| #include "eeprom.h" |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| #define BL_CTRL_ADDRESS 5 |
| #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| #define MAX_SENDE_BUFF 160 |
| #define MAX_EMPFANGS_BUFF 160 |
| #define BLPARAM_REVISION 1 |
| #define MASK_SET_PWM_SCALING 0x01 |
| #define MASK_SET_CURRENT_LIMIT 0x02 |
| #define MASK_SET_TEMP_LIMIT 0x04 |
| #define MASK_SET_CURRENT_SCALING 0x08 |
| #define MASK_SET_BITCONFIG 0x10 |
| #define MASK_RESET_CAPCOUNTER 0x20 |
| #define MASK_SET_DEFAULT_PARAMS 0x40 |
| #define MASK_SET_SAVE_EEPROM 0x80 |
| typedef struct |
| { |
| unsigned char Revision; // revision of parameter structure |
| unsigned char Address; // target address |
| unsigned char PwmScaling; // maximum value of pwm setpoint |
| unsigned char CurrentLimit; // current limit in 1A steps |
| unsigned char TemperatureLimit; // in °C |
| unsigned char CurrentScaling; // scaling factor for current measurement |
| unsigned char BitConfig; // see defines above |
| unsigned char SetMask; // filter for active paramters |
| unsigned char Checksum; // checksum for parameter sturcture |
| } __attribute__((packed)) BLParameter_t; |
| unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| unsigned char DisplayLine = 0; |
| unsigned volatile char SioTmp = 0; |
| 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 TxdBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned char *pRxData = 0; |
| unsigned char RxDataLen = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned volatile char PC_MotortestActive = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[16]; |
| unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| unsigned char ConfirmFrame; |
| struct str_DebugOut DebugOut; |
| struct str_ExternControl ExternControl; |
| struct str_VersionInfo VersionInfo; |
| struct str_WinkelOut WinkelOut; |
| struct str_Data3D Data3D; |
| int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| unsigned int AboTimeOut = 0; |
| const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| { |
| //1234567890123456 |
| "AngleNick ", //0 |
| "AngleRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "YawGyro ", |
| "Height Value ", //5 |
| "AccZ ", |
| "Gas ", |
| "Compass Value ", |
| "Voltage [0.1V] ", |
| "Receiver Level ", //10 |
| "Gyro Compass ", |
| "Motor 1 ", |
| "Motor 2 ", |
| "Motor 3 ", |
| "Motor 4 ", //15 |
| "16 ", |
| "17 ", |
| "18 ", |
| "19 ", |
| "Servo ", //20 |
| "Hovergas ", |
| "Current [0.1A] ", |
| "Capacity [mAh] ", |
| "24 ", |
| "25 ", //25 |
| "26 ", |
| "27 ", |
| "I2C-Error ", |
| "BL Limit ", |
| "GPS_Nick ", //30 |
| "GPS_Roll " |
| }; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ISR(USART0_TX_vect) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = TxdBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR0 = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ISR(USART0_RX_vect) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR0; |
| if(buf_ptr >= MAX_SENDE_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 + 1; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R') |
| { |
| LcdClear(); |
| wdt_enable(WDTO_250MS); // Reset-Commando |
| ServoActive = 0; |
| } |
| } |
| } |
| 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; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += TxdBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| TxdBuffer[i++] = '=' + tmpCRC / 64; |
| TxdBuffer[i++] = '=' + tmpCRC % 64; |
| TxdBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR0 = TxdBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| { |
| va_list ap; |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| unsigned char *snd = 0; |
| int len = 0; |
| TxdBuffer[pt++] = '#'; // Startzeichen |
| TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| TxdBuffer[pt++] = cmd; // Commando |
| va_start(ap, BufferAnzahl); |
| if(BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| while(len) |
| { |
| if(len) |
| { |
| a = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else a = 0; |
| if(len) |
| { |
| b = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else b = 0; |
| if(len) |
| { |
| c = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else c = 0; |
| TxdBuffer[pt++] = '=' + (a >> 2); |
| TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| TxdBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| va_end(ap); |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| { |
| unsigned char a,b,c,d; |
| unsigned char x,y,z; |
| unsigned char ptrIn = 3; // start at begin of data block |
| unsigned char ptrOut = 3; |
| unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) RxdBuffer[ptrOut++] = x; else break; |
| if(len--) RxdBuffer[ptrOut++] = y; else break; |
| if(len--) RxdBuffer[ptrOut++] = z; else break; |
| } |
| pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned char tempchar1, tempchar2; |
| Decode64(); // dekodiere datenblock im Empfangsbuffer |
| switch(RxdBuffer[1]-'a') // check for Slave Address |
| { |
| case FC_ADDRESS: // FC special commands |
| switch(RxdBuffer[2]) |
| { |
| case 'K':// Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| break; |
| case 't':// Motortest |
| if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| PC_MotortestActive = 240; |
| //while(!UebertragungAbgeschlossen); |
| //SendOutData('T', MeineSlaveAdresse, 0); |
| PcZugriff = 255; |
| break; |
| case 'n':// "Get Mixer |
| while(!UebertragungAbgeschlossen); |
| SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| Debug("Mixer lesen"); |
| break; |
| case 'm':// "Write Mixer |
| if(pRxData[0] == EEMIXER_REVISION) |
| { |
| memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| MixerTable_WriteToEEProm(); |
| tempchar1 = 1; |
| VersionInfo.HardwareError[1] &= ~DEFEKT_MIXER_ERR; |
| } |
| else |
| { |
| tempchar1 = 0; |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| break; |
| case 'p': // get PPM Channels |
| GetPPMChannelAnforderung = 1; |
| PcZugriff = 255; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| if(pRxData[0] == 0xFF) |
| { |
| pRxData[0] = GetActiveParamSet(); |
| } |
| // limit settings range |
| if(pRxData[0] < 1) pRxData[0] = 1; // limit to 5 |
| else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
| // load requested parameter set |
| ParamSet_ReadFromEEProm(pRxData[0]); |
| tempchar1 = pRxData[0]; |
| while(!UebertragungAbgeschlossen); |
| SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| Debug("Lese Setting %d", tempchar1); |
| break; |
| case 's': // Parametersatz speichern |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range |
| { |
| memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| ParamSet_WriteToEEProm(pRxData[0]); |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| tempchar1 = GetActiveParamSet(); |
| } |
| else |
| { |
| tempchar1 = 0; // mark in response an invlid setting |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| if(!MotorenEin) Piep(tempchar1,110); |
| LipoDetection(0); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| break; |
| case 'f': // auf anderen Parametersatz umschalten |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| tempchar1 = GetActiveParamSet(); |
| while(!UebertragungAbgeschlossen); |
| SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| if(!MotorenEin) Piep(tempchar1,110); |
| LipoDetection(0); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| break; |
| case 'y':// serial Potis |
| PPM_in[13] = (signed char) pRxData[0]; PPM_in[14] = (signed char) pRxData[1]; PPM_in[15] = (signed char) pRxData[2]; PPM_in[16] = (signed char) pRxData[3]; |
| PPM_in[17] = (signed char) pRxData[4]; PPM_in[18] = (signed char) pRxData[5]; PPM_in[19] = (signed char) pRxData[6]; PPM_in[20] = (signed char) pRxData[7]; |
| PPM_in[21] = (signed char) pRxData[8]; PPM_in[22] = (signed char) pRxData[9]; PPM_in[23] = (signed char) pRxData[10]; PPM_in[24] = (signed char) pRxData[11]; |
| break; |
| case 'u': // request BL parameter |
| Debug("Reading BL %d", pRxData[0]); |
| // try to read BL configuration |
| tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
| if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| else tempchar1 = 0; |
| while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
| break; |
| case 'w': // write BL parameter |
| Debug("Writing BL %d", pRxData[0]); |
| if(RxDataLen >= 1+sizeof(BLConfig_t)) |
| { |
| memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
| tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
| if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| else tempchar1 = 0; // indicate error |
| while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
| } |
| break; |
| } // case FC_ADDRESS: |
| default: // any Slave Address |
| switch(RxdBuffer[2]) |
| { |
| // 't' comand placed here only for compatibility to BL |
| case 't':// Motortest |
| if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| while(!UebertragungAbgeschlossen); |
| SendOutData('T', MeineSlaveAdresse, 0); |
| PC_MotortestActive = 250; |
| PcZugriff = 255; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| case 'K':// Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| break; |
| case 'a':// Texte der Analogwerte |
| DebugTextAnforderung = pRxData[0]; |
| if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| PcZugriff = 255; |
| break; |
| case 'b': |
| memcpy((unsigned char *)&ExternControl, (unsigned char *)pRxData, sizeof(ExternControl)); |
| ConfirmFrame = ExternControl.Frame; |
| PcZugriff = 255; |
| break; |
| case 'c': // Poll the 3D-Data |
| if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| Intervall3D = pRxData[0] * 10; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| case 'd': // Poll the debug data |
| PcZugriff = 255; |
| DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| case 'h':// x-1 Displayzeilen |
| PcZugriff = 255; |
| if((pRxData[0] & 0x80) == 0x00) // old format |
| { |
| DisplayLine = 2; |
| Display_Interval = 0; |
| } |
| else // new format |
| { |
| RemoteKeys |= ~pRxData[0]; |
| Display_Interval = (unsigned int)pRxData[1] * 10; |
| DisplayLine = 4; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| } |
| DebugDisplayAnforderung = 1; |
| break; |
| case 'l':// x-1 Displayzeilen |
| PcZugriff = 255; |
| MenuePunkt = pRxData[0]; |
| DebugDisplayAnforderung1 = 1; |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// |
| GetExternalControl = 1; |
| break; |
| default: |
| //unsupported command received |
| break; |
| } |
| break; // default: |
| } |
| NeuerDatensatzEmpfangen = 0; |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| void uart_putchar (char c) |
| //############################################################################ |
| { |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| //Ausgabe des Zeichens |
| UDR0 = c; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| unsigned int ubrr = (unsigned int) ((unsigned long) F_CPU/(8 * USART0_BAUD) - 1); |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| // UART Double Speed (U2X) |
| UCSR0A |= (1 << U2X0); |
| // RX-Interrupt Freigabe |
| UCSR0B |= (1 << RXCIE0); |
| // TX-Interrupt Freigabe |
| UCSR0B |= (1 << TXCIE0); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| Debug_Timer = SetDelay(DebugDataIntervall); |
| Kompass_Timer = SetDelay(220); |
| VersionInfo.SWMajor = VERSION_MAJOR; |
| VersionInfo.SWMinor = VERSION_MINOR; |
| VersionInfo.SWPatch = VERSION_PATCH; |
| VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| if(CheckDelay(AboTimeOut)) |
| { |
| Display_Interval = 0; |
| DebugDataIntervall = 0; |
| Intervall3D = 0; |
| } |
| if(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| { |
| if(DisplayLine > 3)// new format |
| { |
| Menu(); |
| SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| } |
| else // old format |
| { |
| LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
| if(DisplayLine++ > 3) DisplayLine = 0; |
| } |
| Display_Timer = SetDelay(Display_Interval); |
| DebugDisplayAnforderung = 0; |
| } |
| if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| DebugDisplayAnforderung1 = 0; |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| Debug_OK("Version gesendet"); |
| } |
| if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| GetExternalControl = 0; |
| } |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| Kompass_Timer = SetDelay(99); |
| } |
| if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| CopyDebugValues(); |
| SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| } |
| if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| { |
| Data3D.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| Data3D.Centroid[0] = SummeNick >> 9; |
| Data3D.Centroid[1] = SummeRoll >> 9; |
| Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
| SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| Timer3D = SetDelay(Intervall3D); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| unsigned char label[16]; // local sram buffer |
| memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
| SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
| DebugTextAnforderung = 255; |
| } |
| if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| { |
| SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| GetPPMChannelAnforderung = 0; |
| } |
| #ifdef DEBUG // only include functions if DEBUG is defined |
| if(SendDebugOutput && UebertragungAbgeschlossen) |
| { |
| SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| SendDebugOutput = 0; |
| } |
| #endif |
| } |
| /branches/Znib/V0.80f/uart.h |
|---|
| 0,0 → 1,85 |
| #ifndef _UART_H |
| #define _UART_H |
| #define printf_P(format, args...) _printf_P(&uart_putchar, format , ## args) |
| #define printf(format, args...) _printf_P(&uart_putchar, PSTR(format) , ## args) |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned volatile char PC_MotortestActive; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern unsigned char RemotePollDisplayLine; |
| extern int Debug_Timer,Kompass_Timer; |
| extern void UART_Init (void); |
| extern void uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void Uart1Init(void); |
| extern void BearbeiteRxDaten(void); |
| extern unsigned char MotorTest[16]; |
| struct str_DebugOut |
| { |
| unsigned char Status[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_Data3D |
| { |
| signed int Winkel[3]; // nick, roll, compass in 0,1° |
| signed char Centroid[3]; |
| signed char reserve[5]; |
| }; |
| extern struct str_Data3D Data3D; |
| 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 SWMajor; |
| unsigned char SWMinor; |
| unsigned char ProtoMajor; |
| unsigned char ProtoMinor; |
| unsigned char SWPatch; |
| unsigned char HardwareError[5]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //#define USART0_BAUD 9600 |
| //#define USART0_BAUD 14400 |
| //#define USART0_BAUD 28800 |
| //#define USART0_BAUD 38400 |
| #define USART0_BAUD 57600 |
| #endif //_UART_H |
| /branches/Znib/V0.80f/version.txt |
|---|
| 0,0 → 1,434 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| V0.61 - V0.63 H.Buss 27.09.2007 |
| - Poti 4 und Kanal 8 werden im Menü angezeigt |
| - ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
| - Analog.c: Aktuell_ax korrigiert |
| - auf 32 Debug-Kanäle erweitert |
| - Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar |
| - leichte Anpassungen im Gier - Geschwindigkeit und Drift |
| - die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein |
| - die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird |
| - die PPM-Ausgänge liegen wieder an den Pins an |
| - Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders |
| - der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen |
| - I2C-Bus läuft jetzt sicher nach einer Störung wieder an |
| - Sticksignale werden präziser ausgewertet |
| - Stick-Kanäle werden ans Kopter-Tool übertragen |
| - Es muss die Version V1.47 des Kopter-Tool verwendet werden |
| - Die Settings werden auf Default zurückgesetzt |
| - am Piepen kann man die Fehlerart unterscheiden |
| 1. einzelnes Piepen beim Einschalten und Kalibrieren |
| 2. langsames Intervall mindestens 1 Sek -> Empfangsausfall |
| 3. schnelleres Intervall mindestens 1 Sek -> Akku |
| 4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört |
| V0.64 H.Buss 30.09.2007 |
| - beim Gieren wurden die Achsen nicht hart genug geregelt |
| V0.65a H.Buss 15.10.2007 |
| - Integral im Mischer wieder integriert |
| - Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
| - ACC/Gyro Abgleich auch bei HH |
| V0.66a H.Buss 3.11.2007 |
| - Messwertverarbeitung aus dem Analog-Interrupt entfernt |
| - Analogmessung hängt jetzt am FC-Timing |
| - Looping-Stick-Hysterese eingebaut |
| - Looping-180°-Umschlag einstellbar |
| - Achsenkopplung: Gierbewegung verkoppelt Nick und Roll |
| - Lageregelung nach ACC-Sensor verbessert |
| - zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage |
| - Gyrodriftkompensation überarbeitet |
| - Bug in der Gier-Stick-Berechnung behoben |
| - Gyro-Messung auf 1kHz beschleunigt |
| V0.67a H.Buss 16.11.2007 |
| - der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode) |
| - Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus |
| - Feinabstimmung |
| - Beim HH-Modus gab es noch Bugs |
| V0.67e H.Buss 29.11.2007 |
| - Parameter: Dynamic Stability und Driftfaktor eingeführt |
| - Die Namen der Analogwerte werden jetzt zum Koptertool übertragen |
| - Kompatibilität zum Koptertool erhöht |
| V0.67f H.Buss 04.12.2007 |
| - Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional |
| - Schub für Gier wird jetzt auf den Gaswert begrenzt, dadurch steigt der MK nicht mehr beim Gieren. Gier ist allerdings nicht mehr so agressiv |
| - Die ACC-Nullwerte können jetzt dauerhaft im EEPROM gespeichert werden (Stick:Vollgas und Gier rechts) |
| V0.68a I.Busker 28.12.2007 |
| - SPI.c & SPI.h ins Projekt aufgenommen |
| SPI-Kommuikation kann in SPI.h aktiviert/deaktivert werden |
| V0.68c H.Buss 05.01.2008 |
| - Stickauswertung verbessert -> träger und präziser |
| - Alle Settings angepasst |
| V0.69e H.Buss 05.05.2008 |
| - kleinere Bugs beseitigt |
| - Schneller Sinkflug jetzt möglich |
| - Min- und Maxgas in den Settings geändert |
| - Lagewinkel wird jetzt in 0,1 Grad an Kompass und Navi gesendet |
| - Kalibrierung für MK3Mag -> Nick unten beim Kalibrieren |
| - Kompassroutine um den Ersatzkompass (Gyro unterstützt Kompasswert) erweitert |
| V0.69h H.Buss 21.05.2008 |
| - 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 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 |
| V0.69L H.Buss 14.06.2008 |
| - feinere Cam-Servo-Auflösung |
| V0.70a H.Buss 01.07.2008 |
| - Unterstützung der V1.3-Hardware mit automatischem Hardware-Gyro-Abgleich |
| V0.70b H.Buss 14.07.2008 |
| - flexible Einstellungsmöglichkeit von J16 und J17 (Transistorausgänge) |
| - eigene Parameter für GPS-Naviboard |
| - eigener Parameter für ExternalControl (war vorher UserParameter1 bzw. 8) |
| - neue Parameter im EEPROM-Datensatz: J16Bitmask, J16Timing, ExternalControl, Navi... |
| - MikroKopterFlags eingeführt, damit das Navi den Status des MKs kennt |
| - KopterTool-Kompatibilität auf 8 erhöht |
| V0.70c H.Buss 30.07.2008 |
| - Parameter der Datenfusion leicht modifiziert |
| - EEPROM-Parameter für Looping-Umschlag angepasst (von 100 auf 85) |
| - MaxStick wird auf 100 begrenzt |
| V0.70d H.Buss 02.08.2008 |
| - Transistorausgänge: das oberste Bit der Blinkmaske (im KopterTool linkes Bit) gibt nun den Zustand des Ausgangs im Schalterbetrieb an |
| 0.71b: H.Buss 19.10.2008 |
| Kommunikation zum Navi erweitert: |
| - Beeptime jetzt 32Bit |
| - Datenfusion und Driftkopensation wird durch NaviBoard unterstützt |
| 0.71c: H.Buss 20.10.2008 |
| - LoopConfig heisst jetzt BitConfig |
| - 3-Fach-Schalter für Höhensteuerung möglich -> kann man mit GPS-Schalter zusammenlegen |
| - bei den Settings wurde Setting[0] mit abgespeichert, welches es nicht gab. |
| - in Zukunft werden bei neuen EEPROM-Settings die Kanäle von Setting 1 übernommen |
| - Variablen NaviWindCorrection, NaviSpeedCompensation, NaviOperatingRadius eingeführt |
| 0.71f: H.Buss 15.11.2008 |
| - Ausschalten der Höhenregelung per Schalter um 0,3 sek verzögert |
| - bei der seriellen Übertragung hat die FC jetzt als SlaveAdresse die 1 |
| - VersionInfo.NaviKompatibel eingeführt |
| - wenn manuell gegiert wird, wird der GyroKompass-Wert auf den Kompasswert gesetzt |
| - Luftdruckwert wird an das Navi übertragen |
| - Der Baro-Offset wird jetzt nachgeführt, um den Messbereich zu erweitern. Geht nur bei Höhenregler mit Schalter |
| - Debugdaten können jetzt mit 'f' gepollt werden |
| 0.71g: Gregor 09.12.2008 |
| - Kommunikation überarbeitet |
| Infos hier: http://www.mikrokopter.de/ucwiki/en/SerialCommands |
| 0.71h: H.Buss 15.12.2008 |
| - Freigegebene Version |
| - NaviAngleLimitation als Parameter zum Navi implementiert |
| - Antwort auf CMD: 't' entfernt |
| 0.72d: H.Buss 22.01.2009 |
| - OCTO als Compilerschalter |
| - Unterstützung der FC 2.0 (ME) |
| - GYRO_D eingeführt |
| - Achsenkopplung jetzt auch auf Nick/Roll-Bewegung |
| 0.72e: H.Buss 27.01.2009 |
| - die 0.72d hatte kein Integral im Gier |
| - Parameter eingeführt: |
| EE_Parameter.NaviGpsPLimit |
| EE_Parameter.NaviGpsILimit |
| EE_Parameter.NaviGpsDLimit |
| EE_Parameter.NaviPH_LoginTime |
| EE_Parameter.AchsKopplung2 |
| EE_Parameter.CouplingYawCorrection |
| 0.72f: H.Buss 28.01.2009 |
| - Bug im Ersatzkompass entfernt |
| 0.72h: H.Buss 05.02.2009 |
| - Algorithmen beschleunigt -> Floats durch Fixkomma ersetzt |
| - Achsentkopplung weiter verbessert |
| - Nick- und Roll im Octo-Mischer auf jeweils vier Motoren aufgeteilt |
| 0.72i: H.Buss 07.02.2009 |
| - Abtastrate von 1kHz auf 2kHz erhöht |
| 0.72j: H.Buss 09.02.2009 |
| - neue Implementierung der Servoausgänge |
| 0.72k: H.Buss 10.02.2009 |
| - Abtastrate auf 5kHz erhöht |
| 0.72L: H.Buss 13.02.2009 |
| - Signalfilterung überarbeitet |
| - OCTO2 implementiert |
| 0.72M: H.Buss 13.02.2009 |
| - Code Cleanup |
| 0.72o: H.Buss 24.02.2009 |
| - Abtastrate auf 2kHz |
| - HW-Version an Navi |
| - neuer Datensatz 'c' -> Lagedaten für 3D-Grafik |
| - Auswerteroutine für Spectrum-Satteliten implementiert |
| - Kanalsettings werden beim Parameterreset nicht mehr gelöscht |
| - die Driftkompensation wird jetzt feiner aufgelöst --> EE_Parameter.Driftkomp muss mal 8 genommen werden |
| - die Integrale und ACC-Werte werden jetzt im Scope in ca. 0,1° angezeigt (wie beim NaviBrd) |
| 0.72p: H.Buss 01.03.2009 |
| - Octo3 erstellt |
| - Analogwerte umbenannt |
| 0.73a-d: H.Buss 05.04.2009 |
| - MixerTabelle implementiert |
| - I2C-Bus auf bis zu 12 Motoren erweitert |
| - die Busfehler der BL-Regler werden im Menü angezeigt |
| - Revision der MixerTabelle eingeführt |
| - MixerTabelle wird bei Parameterreset neu initialisiert |
| - Motortest auf [12] erweitert |
| - Motorschalter nicht mehr 3-Stufig |
| 0.74a |
| - Datenfusion im Flug auch, wenn ACC-Z < 512 |
| - Wert für die Luftdruck-Messbereichserweiterung abgefangen |
| 0.74d |
| - Die Driftkompensation ist jetzt dreistufig -> 0,5% pro sekunde zusätzlich eingeführts |
| 0.75a G.Stobrawa 22.5.2009 |
| - Extern Control also received from NC via SPI |
| 0.75b H.Buss 27.05.2009 |
| - Spektrum-Singale schalten den PPM-Eingang aus |
| - max. 2 Sekunden nach dem Start auf die BL-Regler warten |
| - Automatische Zellenerkennung, wenn Spannungswarnung < 5,0V |
| - Bei automatischer Zellenerkennung piept es je nach Zellenzahl |
| - EE_DATENREVISION auf 76 erhöht |
| - Servo: |
| - Roll-Servo für FC ME implementiert |
| - Update-Cmd stoppt Servos |
| - Servos werden erst nach dem ersten Kalibrieren aktiviert |
| 0.75c G.Stobrawa 25.7.2009 |
| - Übertragung der Servo-Settings zur NC |
| - RSSI wird an NC gesendet, derzeit wird der Wert nicht gesetzt |
| - Bugfix Messbereichsumschaltung des Luftdrucksensors springt |
| - Auflösung des Luftdrucks nun bis auf 1 cm (5mal feiner) zur genaueren Berechnung des D-Anteils |
| - Unterstützung von Warnings-Bitmasks für die J16, J17-Outputs bei Unterspannung |
| - Unterspannung für einzelne Zelle´n von 3.2V auf 3.3V angehoben (9.6V --> 9.9V für 3S) |
| 0.75d H.Buss 13.8.2009 |
| - RC-Routine: Empfangsausfall soll sicherer erkannt werden |
| - Zellenerkennung nun auch beim Speichern der Settings |
| - Warnungs-Blinkmaske auch bei Empfangsausfall |
| 0.75e H.Buss 18.8.2009 |
| - LED-Blinken kann an die Motoren gekoppelt werden |
| - Feinabstimmung des Höhenreglers |
| 0.75f H.Buss 27.8.2009 |
| - D-Anteil des Höhenreglers jetzt mit Quadratischer Komponente |
| - Lagewinkel wirkt jetzt mit 1/Cos(x) mit in den Höhenregler |
| - leichte Modifikation der RC-Empfangroutine |
| 0.75g H.Buss 31.08.2009 |
| - die Akkuspannung geht jetzt antiproportional ins Gas ein |
| 0.75h H.Buss 3.09.2009 |
| - im Höhenregler werden jetzt die Stellwerte begrenzt --> max +- 16% vom geschätzten Schwebegas |
| 0.75i H.Buss 7.09.2009 |
| - GpsZ vom Navi zur FC für den Höhenregler |
| - "hoovergas-Variation" als Parameter |
| - Kompatibilität zu NC und PC erhöht |
| 0.75j H.Buss 17.09.2009 |
| - Laufzeitzähler eingebaut |
| 0.75k H.Buss 22.09.2009 |
| - zweite Variante (Gregor) der Höhenregelung implementiert |
| - umschaltbare RC-Routine |
| 0.75L H.Buss 23.09.2009 |
| - SollHoehe und Gas geht nun auch an die NC |
| 0.75M H.Buss 29.09.2009 |
| - Spektrum-Timing wird nun überwacht |
| - die FC kann nun stand-Alone als Kamera-Stabilizer eingesetzt werden, weil die Servos aktiviert werden, wenn I2C fehlt |
| 0.75N H.Buss 29.09.2009 |
| - Hoover-Stickpunkt wird bei aktivem Höhenregler nicht nachgeführt |
| - Hoover-Stickpunkt kann per Parameter fest eingestellt werden |
| - Baro-Messbereichserweiterung auch bei aktiviertem Höhenregler |
| - Gyro_Gier_P und Gyro_Gier_I eingeführt |
| - I2C_fehler-Zähler jetzt in den Analogdaten |
| 0.75o H.Buss 01.10.2009 |
| - der Höhenregler wird jetzt nur alle 10ms bearbeitet |
| - Baro-Messbereichserweiterung auch bei Poti als Sollwert |
| 0.76d H.Buss 10.10.2009 |
| - bei aktiver Messbereichserweiterung wird die aktuelle Höhe übernommen |
| 0.76e H.Buss 27.10.2009 |
| - es werden beim Start einmal alle BL-Regler angesprochen, damit BL-Regler#8 auch einen Selbsttest macht |
| - S3D-ACT-Summensignal als Compilerschalter |
| 0.76f H.Buss 05.11.2009 |
| - untere Spannungsgrenze der Unterspannungswarnung (9,3V) entfernt |
| 0.76g H.Buss 10.11.2009 |
| - Casting-Fehler in der Gas-Berechnung |
| 0.77a H.Buss 11.11.2009 |
| - Erweiterung auf 12 Kanäle |
| - Bei Koptertool-Kanalabfrage kein Empfangsausfall-Piepsen |
| - serielle Kanalerweiterung eingebaut -> PPM_in auf 25 erweitert |
| - Servos3-5 einstellbar |
| - neues Kommando "f" -> schaltet auf anderen Parametersatz um |
| 0.77b H.Buss 09.12.2009 |
| - JetiBox: Menü wird übertragen |
| - neu: FCFlags |= FCFLAG_I2CERR; |
| - LED-Warn-Blinken nun mit festem Timing und abschaltbar |
| 0.77c H.Buss 07.01.2010 |
| - zwei weitere Spektrum-Varianten implementiert |
| 0.77d H.Buss 25.01.2010 |
| - Strom-Messung eingebaut |
| 0.78a H.Buss 03.02.2010 |
| - Bugfix: Settingsumschaltung im Flug |
| 0.78b H.Buss |
| - veröffentlichte Version |
| 0.78c H.Buss + G.Stobrawa 22.2.2010 |
| - Bewegungsbegrenzung an Servo 3 to 5 der FC 2.0 |
| - Theoretischer Variablenüberlauf bei Vario-Höhenregler |
| - Anzeige des "SPI RX communication error" wenn GPS Option nicht aktiv |
| - LED-Schwellwerte fürs Blinken waren unterschiedlich |
| 0.78c H.Buss + G.Stobrawa 04.3.2010 |
| - Code cosmetics |
| 0.78f H.Buss + I.Busker 23.3.2010 |
| - Unterstützung für Jeti-Expander |
| - Begrenzung des Vario-Höhenreglers auf ein 10m-Fenster um Überläufe zu verhindern |
| - Einführung eines Vario-Zeichens (+/-/ ) auf der Jetibox |
| - BL-Timeout beim Start erhöht |
| 0.80a-d H. Buss + G.Stobrawa 20.5.2010 - 22.7.2010 |
| - Motoren Starten nicht ohne Kalibrierung |
| - Unterstützung der BL2.0-Regler |
| - statt 8 nun 10 Bit Auflösung der Lageregekung |
| - Unterstützung der BL2.0-Regler Konfiguration via MK-Tool |
| - Parametersätze werden per I2C an die BL-Regler durchgereicht |
| - "Care-Free" implementiert |
| - Freie Belegung der "Vorne"-Richtung |
| - nur wenn Motoren laufen: Beepen, wenn Carefree ohne Navi oder ohne gültigen MK3Mag-Wert |
| - nur wenn Motoren laufen: Beepen wenn NC plötzlich ausfällt |
| - #define RECEIVER_SPEKTRUM_EXP eingeführt |
| - #define SWITCH_LEARNS_CAREFREE eingeführt |
| - Schwerpunktanzeige in den 3D-Daten |
| - Checksummen gesicherte Datenablage im EEProm |
| - Fehlerdiagnose implementiert (Wiki: ErrorCodes) |
| - ErrorCode aufs Jeti-Display |
| - JetiMenü: bis acht Temperaturen der BL-Regler |
| - GPSInfo.Speed im Jeti-Display |
| - Compass-Richtung nun im Jeti-menü |
| - diverse Änderungen im Höhenregler |
| - P wirkt schwächer |
| - D wirkt stärker |
| - Anpassung der Höhenregelung auf Level des Hoovergases |
| - AccZ schneller nachführen |
| Parameter modifiziert: |
| - EEPROM-Kompatibilität auf 84 -> Parameter werden resettet |
| - EE_Parameter.Hoehe_ACC_Wirkung = 0; // war 30 |
| - EE_Parameter.Hoehe_HoverBand = 8; // war 5 |
| - Notgas = 45 |
| - NotgasZeit = 90 |
| - Beginnersetting: EE_Parameter.DynamicStability = 70; |
| - Neu: GyroStability = 6 |
| - GPS-Login-Time auf 2 reduziert |
| 0.80e H.Buss 02.08.2010 |
| - MK3Mag ohne NC ging nicht |
| 0.80f H.Buss 04.08.2010 |
| - Beim Höhenregler "Deckel" wird das Gas wieder wie in der alten Version behandelt und der D-Anteil auf das alte Verhalten (um Faktor 8) reduziert |
| 0.80f_Znib |
| - Optimierung für Mode 1 und 4: |
| Wird beim "User Parameter 1" eine 1 oder eine 4 eingetragen werden zum kalibrieren, |
| Motoren starten und auswahl der Settings Gier und Roll vertauscht. Dadurch ist es |
| auch für Mode 1 und 4 flieger möglich die z.B. die Motoren zu starten in dem man den |
| Gasknüppel nach unten rechts zieht, anstatt den Gasknüppel nach unten und den anderen |
| nach rechts zu ziehen. |
| /branches/Znib/V0.80f |
|---|
| Property changes: |
| Added: tsvn:logminsize |
| +8 |
| \ No newline at end of property |