| /branches/thjac/V1_13/Dokumentation/Anleitung_V1_13a.doc |
|---|
| Cannot display: file marked as a binary type. |
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| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /branches/thjac/V1_13/Dokumentation/Anleitung_V1_13a.pdf |
|---|
| Cannot display: file marked as a binary type. |
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| Property changes: |
| Added: svn:mime-type |
| +application/octet-stream |
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| /branches/thjac/V1_13/FlightCtrl.aps |
|---|
| 0,0 → 1,0 |
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|
| /branches/thjac/V1_13/GPS.c |
|---|
| 0,0 → 1,32 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + 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/thjac/V1_13/Hex-Files/BootLoader_MEGA644_20MHZ_V0_1.hex |
|---|
| 0,0 → 1,64 |
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| /branches/thjac/V1_13/Hex-Files/Flight-Ctrl_MEGA644_V1_13a.hex |
|---|
| 0,0 → 1,3309 |
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| :00000001FF |
| /branches/thjac/V1_13/Hex-Files/WasIstWas.txt |
|---|
| 0,0 → 1,51 |
| +++++++++++++++++++++++++ |
| + 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 |
| //+++++++++++ |
| // Quadro: |
| // 1 |
| // 4 3 |
| // 2 |
| //+++++++++++ |
| // Reverse Props on 1 2 |
| //+++++++++++ |
| // Octo: |
| // 1 2 |
| // 8 3 |
| // 7 4 |
| // 6 5 |
| //+++++++++++ |
| //+++++++++++ |
| // Octo2: |
| // 1 |
| // 8 2 |
| // 7 3 |
| // 6 4 |
| // 5 |
| //+++++++++++ |
| //+++++++++++ |
| // Octo3: |
| // 1 |
| // 2 |
| // 8 7 3 4 |
| // 5 |
| // 6 |
| //+++++++++++ |
| // Reverse Props on octo: 1 3 5 7 |
| /branches/thjac/V1_13/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und 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 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 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/thjac/V1_13/Settings.h |
|---|
| --- V1_13/Spectrum.c (nonexistent) |
| +++ V1_13/Spectrum.c (revision 1263) |
| @@ -0,0 +1,310 @@ |
| +/*####################################################################################### |
| +Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
| +#######################################################################################*/ |
| + |
| +#include "Spectrum.h" |
| +#include "main.h" |
| + |
| +//--------------------------------------------------------------// |
| + |
| +//--------------------------------------------------------------// |
| +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); |
| + |
| + Uart1Init(); // init Uart again |
| +} |
| + |
| +//############################################################################ |
| +// zum Decodieren des Spektrum Satelliten wird USART1 benutzt. |
| +// USART1 initialisation from killagreg |
| +void Uart1Init(void) |
| +//############################################################################ |
| + { |
| + // -- Start of USART1 initialisation for Spekturm seriell-mode |
| + // USART1 Control and Status Register A, B, C and baud rate register |
| + uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
| + // 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); |
| + // 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 |
| + 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 |
| +// |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +//############################################################################ |
| +//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever |
| +SIGNAL(USART1_RX_vect) |
| +//############################################################################ |
| +{ |
| +static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer; |
| + unsigned int Channel, index; |
| + signed int signal, tmp; |
| + int bCheckDelay; |
| + uint8_t c; |
| + |
| + c = UDR1; // get data byte |
| + |
| + if (ReSync == 1) |
| + { |
| + // wait for beginning of new frame |
| + ReSync = 0; |
| + |
| + FrameTimer = SetDelay(7); // minimum 7ms zwischen den frames |
| + FrameCnt = 0; |
| + Sync = 0; |
| + ByteHigh = 0; |
| + } |
| + else |
| + { |
| + bCheckDelay = 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 ++; |
| + } |
| + else |
| + { |
| + // Zeichen kam vor Ablauf der 7ms Sync-Pause |
| + // warten auf erstes Sync-Zeichen |
| + } |
| + } |
| + else if((Sync == 1) && !bCheckDelay) |
| + { |
| + // zweites Sync-Character ignorieren, Bedeutung unbekannt |
| + Sync = 2; |
| + FrameCnt ++; |
| + } |
| + else if((Sync == 2) && !bCheckDelay) |
| + { |
| + // 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 |
| + Sync = 2; |
| + FrameCnt ++; |
| + |
| + index = (ByteHigh >> 2) & 0x0f; |
| + index ++; |
| + Channel = (ByteHigh << 8) | c; |
| + signal = Channel & 0x3ff; |
| + signal -= 0x200; // Offset, range 0x000..0x3ff? |
| + signal = signal/3; // scaling to fit PPM resolution |
| + |
| + if(index >= 0 && index <= 10) |
| + { |
| + // 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 >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| + else PPM_diff[index] = 0; |
| + PPM_in[index] = tmp; |
| + } |
| + } |
| + else |
| + { |
| + // hier stimmt was nicht: neu synchronisieren |
| + ReSync = 1; |
| + FrameCnt = 0; |
| + Frame2 = 0; |
| + } |
| + |
| + // 16 Bytes per frame |
| + if(FrameCnt >= 16) |
| + { |
| + // Frame complete |
| + if(Frame2 == 0) |
| + { |
| + // Null bedeutet: Neue Daten |
| + // nur beim ersten Frame (CH 0-7) setzen |
| + NewPpmData = 0; |
| + } |
| + |
| + // new frame next, nach fruehestens 7ms erwartet |
| + FrameCnt = 0; |
| + Frame2 = 0; |
| + Sync = 0; |
| + } |
| + // Zeit bis zum nächsten Zeichen messen |
| + FrameTimer = SetDelay(7); |
| + } |
| +} |
| + |
| + |
| /branches/thjac/V1_13/Spectrum.h |
|---|
| 0,0 → 1,9 |
| /*####################################################################################### |
| Dekodieren eines Spectrum Signals |
| #######################################################################################*/ |
| #ifndef _SPECTRUM_H |
| #define _SPECTRUM_H |
| void Uart1Init(void); |
| void SpektrumBinding(void); |
| #endif //_RC_H |
| /branches/thjac/V1_13/_Settings.h |
|---|
| 0,0 → 1,43 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Abstimmung |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ACC_AMPLIFY 6 |
| #define FAKTOR_P 1 |
| #define FAKTOR_I 0.0001 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debug-Interface |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| #define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Sender |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define K_NICK 0 |
| #define K_ROLL 1 |
| #define K_GAS 2 |
| #define K_GIER 3 |
| #define K_POTI1 4 |
| #define K_POTI2 5 |
| #define K_POTI3 6 |
| #define K_POTI4 7 |
| // +++++++++++++++++++++++++++++++ |
| // + Getestete Settings: |
| // +++++++++++++++++++++++++++++++ |
| // Setting: Kamera |
| // Stick_P:3 |
| // Stick_D:0 |
| // Gyro_P: 175 |
| // Gyro_I: 175 |
| // Ki_Anteil: 10 |
| // +++++++++++++++++++++++++++++++ |
| // + Getestete Settings: |
| // +++++++++++++++++++++++++++++++ |
| // Setting: Normal |
| // Stick_P:2 |
| // Stick_D:8 |
| // Gyro_P: 80 |
| // Gyro_I: 150 |
| // Ki_Anteil: 5 |
| /branches/thjac/V1_13/altcon.c |
|---|
| 0,0 → 1,109 |
| /* altcon.c |
| * |
| * Copyright 2009 Thomas Jachmann |
| */ |
| #include "main.h" |
| #include "altcon.h" |
| #include "parameter.h" |
| #include "fc.h" |
| static char enabled = 0; |
| static int accZOffset = 0; |
| static int temp; // Temporäre Werte; wird mehrfach verwendet |
| int altconN = 0; |
| extern unsigned char Notlandung; // aus fc.c |
| extern int airPressure; |
| /* |
| * Höhenregler initialisieren |
| */ |
| void altcon_init( void ) { |
| altcon_stop(); |
| } |
| /* |
| * Speichert die aktuelle Höhe als Sollhöhe |
| */ |
| void altcon_lock( void ) { |
| SollHoehe = analog_airPressure(); |
| accZOffset = Mess_Integral_Hoch / 128; |
| } |
| /* |
| * Inkrementiert die aktuelle Höhe um eins |
| */ |
| void altcon_inc( unsigned char count ) { |
| SollHoehe += count; |
| accZOffset = Mess_Integral_Hoch / 128; |
| } |
| /* |
| * Startet den Höhenregler |
| */ |
| void altcon_start( void ) { |
| enabled = 1; |
| } |
| /* |
| * Stoppt den Höhenregler |
| */ |
| void altcon_stop( void ) { |
| enabled = 0; |
| } |
| /* |
| * Berechnet den Korrekturwert für die Höhenregelung |
| */ |
| int altcon_error( void ) { |
| int register error; |
| DebugOut.Analog[24] = SollHoehe; |
| altconN = 0; |
| if( enabled && !Notlandung ) { |
| // Fehlerwert für Regler ermitteln |
| error = analog_airPressure() - SollHoehe; |
| // Proportionalanteil |
| altconN = ( PARAM_ALT_P * error ) / 4; // dividiert durch ( 16 / STICK_GAIN ) = 16 / 4 = 4 |
| // Differenzialanteil wird in analog.c berechnet |
| altconN += analog_airPressureDiff() / 2; |
| // ACC-Z-Integral zur Dämpfung einbeziehen |
| temp = ( ( ( Mess_Integral_Hoch / 128 ) - accZOffset ) * (signed long) PARAM_ALT_ACC ) / 32; |
| // Dämpfung limitieren |
| if( temp > ( 70 * STICK_GAIN ) ) |
| temp = 70 * STICK_GAIN; |
| else if( temp < -( 70 * STICK_GAIN ) ) |
| temp = -( 70 * STICK_GAIN ); |
| altconN += temp; |
| // Verstärkung des Fehlerwertes zur Anpassung des Gewichtes |
| altconN = altconN * PARAM_ALT_GAIN / 50L; |
| // Limitierung des Korrekturwertes nach oben |
| int altMax = PARAM_ALT_MAX * STICK_GAIN; |
| if( altconN < -altMax ) |
| altconN = -altMax; |
| } |
| DebugOut.Analog[27] = altconN; |
| return altconN; |
| } |
| /branches/thjac/V1_13/altcon.h |
|---|
| 0,0 → 1,20 |
| /* altcon.h |
| * |
| * Copyright 2009 Thomas Jachmann |
| */ |
| #ifndef ALTCON_H |
| #define ALTCON_H |
| #define altcon_avgerror() altconN |
| extern int altconN; |
| extern void altcon_init( void ); |
| extern void altcon_start( void ); |
| extern void altcon_lock( void ); |
| extern void altcon_inc( unsigned char count ); |
| extern void altcon_stop( void ); |
| extern int altcon_error( void ); |
| #endif // ALTCON_H |
| /branches/thjac/V1_13/analog.c |
|---|
| 0,0 → 1,459 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.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 int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| signed char ExpandBaro = 0; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
| unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
| volatile unsigned char AdReady = 1; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ANALOG_ON; |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| ExpandBaro = 0; |
| Delay_ms_Mess(100); |
| if(MessLuftdruck < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < 850) break; |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| DruckOffsetSetting = off; |
| Delay_ms_Mess(300); |
| } |
| void SucheGyroOffset(void) |
| { |
| unsigned char i, ready = 0; |
| int timeout; |
| GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
| 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++; |
| twi_state = 8; |
| i2c_start(); |
| if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
| if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
| if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
| while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
| messanzahl_Druck = 0; |
| ANALOG_ON; |
| while(messanzahl_Druck == 0); |
| 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 |
| 11 r |
| 12 g |
| 13 y |
| 14 x |
| 15 n |
| 16 r |
| 17 L |
| */ |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
| static signed int accy, accx; |
| 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) |
| { |
| NeutralAccZ += 0.02; |
| if(modell_fliegt < 500) NeutralAccZ += 0.1; |
| } |
| } |
| else if(AdWertAccHoch < -1) |
| { |
| if(NeutralAccZ > 550) |
| { |
| NeutralAccZ-= 0.02; |
| if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
| } |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| kanal = AD_DRUCK; |
| break; |
| // "case 8:" 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: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| tmpLuftdruck /= 2; |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8; |
| HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
| tmpLuftdruck /= 2; |
| } |
| kanal = AD_NICK; |
| break; |
| default: |
| kanal = 0; state = 0; kanal = AD_NICK; |
| break; |
| } |
| ADMUX = kanal; |
| if(state != 0) ANALOG_ON; |
| } |
| /* |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| static signed int gier1, roll1, nick1; |
| static signed long nick_filter, roll_filter; |
| static signed int accy, accx; |
| 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_NICK; |
| break; |
| case 4: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 5: |
| roll1 += ADC; |
| kanal = AD_ACC_Z; |
| break; |
| case 6: |
| AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| if(AdWertAccHoch > 1) |
| { |
| if(NeutralAccZ < 750) |
| { |
| NeutralAccZ += 0.02; |
| if(modell_fliegt < 500) NeutralAccZ += 0.1; |
| } |
| } |
| else if(AdWertAccHoch < -1) |
| { |
| if(NeutralAccZ > 550) |
| { |
| NeutralAccZ-= 0.02; |
| if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
| } |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| kanal = AD_NICK; |
| break; |
| case 7: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 8: |
| roll1 += ADC; |
| kanal = AD_ACC_X; |
| break; |
| case 9: |
| Aktuell_ax = ADC - NeutralAccX; |
| accx = Aktuell_ax; |
| kanal = AD_GIER; |
| break; |
| case 10: |
| gier1 += ADC; |
| kanal = AD_NICK; |
| break; |
| case 11: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 12: |
| roll1 += ADC; |
| kanal = AD_UBAT; |
| break; |
| case 13: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = AD_ACC_Y; |
| break; |
| case 14: |
| Aktuell_ay = NeutralAccY - ADC; |
| accy += Aktuell_ay; |
| kanal = AD_NICK; |
| break; |
| case 15: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 16: |
| roll1 += ADC; |
| kanal = AD_ACC_X; |
| break; |
| case 17: |
| Aktuell_ax = ADC - NeutralAccX; |
| accx += Aktuell_ax; |
| kanal = AD_NICK; |
| break; |
| case 18: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 19: |
| roll1 += ADC; |
| kanal = AD_GIER; |
| break; |
| case 20: |
| gier1 += ADC; |
| kanal = AD_ACC_Y; |
| break; |
| case 21: |
| Aktuell_ay = NeutralAccY - ADC; |
| accy += Aktuell_ay; |
| kanal = AD_NICK; |
| break; |
| case 22: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 23: |
| roll1 += ADC; |
| kanal = AD_DRUCK; |
| break; |
| case 24: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = AD_NICK; |
| break; |
| case 25: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 26: |
| roll1 += ADC; |
| kanal = AD_ACC_X; |
| break; |
| case 27: |
| Aktuell_ax = ADC - NeutralAccX; |
| accx += Aktuell_ax; |
| kanal = AD_GIER; |
| break; |
| case 28: |
| if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
| else |
| if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
| else AdWertGier = (ADC + gier1 + 1) / 2; |
| kanal = AD_NICK; |
| break; |
| case 29: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 30: |
| roll1 += ADC; |
| kanal = AD_ACC_Y; |
| break; |
| case 31: |
| Aktuell_ay = NeutralAccY - ADC; |
| AdWertAccRoll = (Aktuell_ay + accy); |
| kanal = AD_NICK; |
| break; |
| case 32: |
| AdWertNick = (ADC + nick1 + 3) / 5; |
| nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
| if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
| HiResNick = nick_filter - 20 * AdNeutralNick; |
| AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
| DebugOut.Analog[21] = AdWertNickFilter / 4; |
| kanal = AD_ROLL; |
| break; |
| case 33: |
| AdWertRoll = (ADC + roll1 + 3) / 5; |
| roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
| if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
| HiResRoll = roll_filter - 20 * AdNeutralRoll; |
| AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
| DebugOut.Analog[22] = AdWertRollFilter / 4; |
| kanal = AD_ACC_X; |
| break; |
| case 34: |
| Aktuell_ax = ADC - NeutralAccX; |
| AdWertAccNick = (Aktuell_ax + accx); |
| kanal = AD_NICK; |
| state = 0; |
| AdReady = 1; |
| ZaehlMessungen++; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| if(state != 0) ANALOG_ON; |
| } |
| */ |
| /branches/thjac/V1_13/analog.h |
|---|
| 0,0 → 1,48 |
| #ifndef _ANALOG_H |
| #define _ANALOG_H |
| /*####################################################################################### |
| #######################################################################################*/ |
| 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 char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern signed char ExpandBaro; |
| extern volatile int HoeheD; |
| 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 analog_airPressure() HoehenWert |
| #define analog_airPressureDiff() HoeheD |
| #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/thjac/V1_13/eeprom.c |
|---|
| 0,0 → 1,236 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void DefaultStickMapping(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| } |
| void DefaultKonstanten1(void) |
| { |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;//CFG_HOEHEN_SCHALTER |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 4; // Wert : 0-50 |
| EE_Parameter.Stick_P = 15; // Wert : 1-6 |
| EE_Parameter.Stick_D = 30; // Wert : 0-64 |
| EE_Parameter.Gier_P = 12; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 80; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| EE_Parameter.Gyro_D = 3; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 30; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 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 : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 67; |
| EE_Parameter.CouplingYawCorrection = 0; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| EE_Parameter.GyroAccAbgleich = 16; // 1/k |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.DynamicStability = 100; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.J16Timing = 15; |
| EE_Parameter.J17Timing = 15; |
| EE_Parameter.NaviGpsModeControl = 253; |
| 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 = 4; |
| memcpy(EE_Parameter.Name, "Sport\0", 12); |
| } |
| void DefaultKonstanten2(void) |
| { |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 3; // Wert : 0-50 |
| EE_Parameter.Stick_P = 12; // Wert : 1-6 |
| EE_Parameter.Stick_D = 16; // Wert : 0-64 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 80; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-250 |
| EE_Parameter.Gyro_D = 3; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 30; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 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 : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 67; |
| EE_Parameter.CouplingYawCorrection = 60; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.DynamicStability = 75; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.J16Timing = 20; |
| EE_Parameter.J17Timing = 20; |
| EE_Parameter.NaviGpsModeControl = 253; |
| 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 = 4; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| } |
| void DefaultKonstanten3(void) |
| { |
| EE_Parameter.GlobalConfig = CFG_DREHRATEN_BEGRENZER | CFG_ACHSENKOPPLUNG_AKTIV | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 3; // Wert : 0-50 |
| EE_Parameter.Stick_P = 8; // Wert : 1-6 |
| EE_Parameter.Stick_D = 16; // Wert : 0-64 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 8; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 230; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 100; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-250 |
| EE_Parameter.Gyro_D = 3; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 16; |
| EE_Parameter.UserParam1 = 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 : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.BitConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsKopplung2 = 67; |
| EE_Parameter.CouplingYawCorrection = 70; |
| EE_Parameter.WinkelUmschlagNick = 85; |
| EE_Parameter.WinkelUmschlagRoll = 85; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.Driftkomp = 32; |
| EE_Parameter.DynamicStability = 50; |
| EE_Parameter.J16Bitmask = 95; |
| EE_Parameter.J17Bitmask = 243; |
| EE_Parameter.J16Timing = 30; |
| EE_Parameter.J17Timing = 30; |
| EE_Parameter.NaviGpsModeControl = 253; |
| 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 = 4; |
| memcpy(EE_Parameter.Name, "Beginner\0", 12); |
| } |
| /branches/thjac/V1_13/fc.c |
|---|
| 0,0 → 1,1485 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + 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 "main.h" |
| #include "parameter.h" |
| #include "pitch.h" |
| #include "altcon.h" |
| #include "eeprom.c" |
| unsigned char h,m,s; |
| volatile unsigned int I2CTimeout = 100; |
| int MesswertNick,MesswertRoll,MesswertGier,MesswertGierBias, RohMesswertNick,RohMesswertRoll; |
| int TrimNick, TrimRoll; |
| int AdNeutralGierBias; |
| int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| volatile float NeutralAccZ = 0; |
| unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| long IntegralNick = 0,IntegralNick2 = 0; |
| long IntegralRoll = 0,IntegralRoll2 = 0; |
| long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
| long Integral_Gier = 0; |
| long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
| volatile long Mess_Integral_Hoch = 0; |
| int KompassValue = 0; |
| int KompassStartwert = 0; |
| int KompassRichtung = 0; |
| unsigned int KompassSignalSchlecht = 500; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char Notlandung = 0; |
| unsigned char HoehenReglerAktiv = 0; |
| unsigned char TrichterFlug = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| long ErsatzKompass; |
| int ErsatzKompassInGrad; // Kompasswert in Grad |
| int GierGyroFehler = 0; |
| char GyroFaktor,GyroFaktorGier; |
| char IntegralFaktor,IntegralFaktorGier; |
| int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| char MotorenEin = 0; |
| int HoehenWert = 0; |
| int SollHoehe = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| //float Ki = FAKTOR_I; |
| 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_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_Gier_P = 2; // Wert : 1-20 |
| unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| unsigned char Parameter_UserParam1 = 0; |
| unsigned char Parameter_UserParam2 = 0; |
| unsigned char Parameter_UserParam3 = 0; |
| unsigned char Parameter_UserParam4 = 0; |
| unsigned char Parameter_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 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_J16Brightness; // for the J16 Output |
| unsigned char Parameter_J17Bitmask; // for the J17 Output |
| unsigned char Parameter_J17Timing; // for the J17 Output |
| unsigned char Parameter_J17Brightness; // 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; |
| struct mk_param_struct EE_Parameter; |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| unsigned int modell_fliegt = 0; |
| volatile unsigned char MikroKopterFlags = 0; |
| long GIER_GRAD_FAKTOR = 1291; |
| signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| unsigned char RequiredMotors = 4; |
| unsigned char Motor[MAX_MOTORS]; |
| signed int tmp_motorwert[MAX_MOTORS]; |
| int MotorSmoothing(int neu, int alt) |
| { |
| int motor; |
| if(neu > alt) motor = (1*(int)alt + neu) / 2; |
| else motor = neu - (alt - neu)*1; |
| //if(Poti2 < 20) return(neu); |
| return(motor); |
| } |
| void Piep(unsigned char Anzahl) |
| { |
| while(Anzahl--) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| beeptime = 100; |
| Delay_ms(250); |
| } |
| } |
| //############################################################################ |
| // Nullwerte ermitteln |
| void SetNeutral(void) |
| //############################################################################ |
| { |
| unsigned char i; |
| unsigned int gier_neutral=0, nick_neutral=0, roll_neutral=0; |
| ServoActive = 0; HEF4017R_ON; |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| AdNeutralGierBias = 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); |
| AdNeutralGierBias = AdNeutralGier; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| NeutralAccZ = Aktuell_az; |
| } |
| else |
| { |
| NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
| NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
| NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
| } |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| Delay_ms_Mess(100); |
| Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * (long)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; |
| HoeheD = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| GPS_Neutral(); |
| beeptime = 50; |
| Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
| ExternHoehenValue = 0; |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| GierGyroFehler = 0; |
| SendVersionToNavi = 1; |
| LED_Init(); |
| MikroKopterFlags |= FLAG_CALIBRATE; |
| FromNaviCtrl_Value.Kalman_K = -1; |
| FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| Poti1 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110; |
| Poti2 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110; |
| Poti3 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110; |
| Poti4 = PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110; |
| ServoActive = 1; |
| SenderOkay = 100; |
| } |
| //############################################################################ |
| // 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; |
| MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| // MesswertGierBias = (signed int) AdNeutralGierBias - AdWertGier; |
| MesswertNick = (signed int) AdWertNickFilter / 8; |
| MesswertRoll = (signed int) AdWertRollFilter / 8; |
| RohMesswertNick = MesswertNick; |
| RohMesswertRoll = MesswertRoll; |
| //DebugOut.Analog[21] = MesswertNick; |
| //DebugOut.Analog[22] = MesswertRoll; |
| //DebugOut.Analog[22] = Mess_Integral_Gier; |
| //DebugOut.Analog[21] = MesswertNick; |
| //DebugOut.Analog[22] = MesswertRoll; |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = ((long)Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 4L; |
| Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 4L; |
| Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 3 + ((long)AdWertAccHoch)) / 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); |
| } |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| 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 * (long)AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
| Mittelwert_AccHoch = (long)AdWertAccHoch; |
| // ADC einschalten |
| ANALOG_ON; |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| unsigned char i; |
| DebugOut.Analog[12] = Motor[0]; |
| DebugOut.Analog[13] = Motor[1]; |
| DebugOut.Analog[14] = Motor[3]; |
| DebugOut.Analog[15] = Motor[2]; |
| if (!(MotorenEin && PARAM_ENGINE_ENABLED)) { |
| MikroKopterFlags &= ~(FLAG_MOTOR_RUN | FLAG_FLY); |
| for(i=0;i<MAX_MOTORS;i++) |
| { |
| if(!PC_MotortestActive) MotorTest[i] = 0; |
| Motor[i] = MotorTest[i]; |
| } |
| if(PC_MotortestActive) PC_MotortestActive--; |
| } |
| else MikroKopterFlags |= FLAG_MOTOR_RUN; |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| i2c_start(); |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| #define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; } |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| 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(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D,0,255); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
| CHK_POTI(Parameter_AchsKopplung2, EE_Parameter.AchsKopplung2,0,255); |
| CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection,0,255); |
| // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
| CHK_POTI_MM(Parameter_J16Timing, EE_Parameter.J16Timing, 1, 255); |
| CHK_POTI_MM(Parameter_J16Brightness, PARAM_LED_BRIGHTNESS_J16, 0, 250); |
| CHK_POTI_MM(Parameter_J17Timing, EE_Parameter.J17Timing, 1, 255); |
| CHK_POTI_MM(Parameter_J17Brightness, PARAM_LED_BRIGHTNESS_J17, 0, 250); |
| CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl,0,255); |
| Ki = 10300 / (Parameter_I_Faktor + 1); |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| { |
| int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int; |
| int GierMischanteil,GasMischanteil; |
| static long SummeNick=0,SummeRoll=0; |
| static long sollGier = 0,tmp_long,tmp_long2; |
| static long IntegralFehlerNick = 0; |
| static long IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| static long ausgleichNick, ausgleichRoll; |
| int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| unsigned char i; |
| Mittelwert(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = StickGas; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Empfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(!PcZugriff) |
| { |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| } |
| } |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| Notlandung = 0; |
| } |
| ROT_ON; |
| if(modell_fliegt > 1000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| Notlandung = 1; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| } |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| Notlandung = 0; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40 && MotorenEin) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| } |
| if((modell_fliegt < 256)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| if(modell_fliegt == 250) |
| { |
| NeueKompassRichtungMerken = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| // Mess_Integral_Gier2 = 0; |
| } |
| } else MikroKopterFlags |= FLAG_FLY; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| unsigned char setting=1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| SetActiveParamSetNumber(setting); // aktiven Datensatz merken |
| } |
| // else |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < 30 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) |
| { |
| WinkelOut.CalcState = 1; |
| beeptime = 1000; |
| } |
| else |
| { |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| SetNeutral(); |
| init(); |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| } |
| else |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| SetNeutral(); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| { |
| // Starten |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 200; |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| MikroKopterFlags |= FLAG_START; |
| // Beim Einschalten automatisch kalibrieren |
| if (PARAM_CAL_ON_START) { |
| if ((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) { |
| if ((MessLuftdruck > 950) || (MessLuftdruck < 750)) { |
| SucheLuftruckOffset(); |
| } |
| } |
| SetNeutral(); |
| } |
| } |
| } else delay_einschalten = 0; |
| //Auf Neutralwerte setzen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 200; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || Notlandung) { |
| static int chanNickPrev = 0; |
| static int chanRollPrev = 0; |
| static int stick_nick,stick_roll; |
| ParameterZuordnung(); |
| #define MAX_CHAN_VAL 125L |
| #define COS45 7071L // cos( -45 ) * 10000 |
| long chanNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
| long chanRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
| int chanNickDiff; |
| int chanRollDiff; |
| /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
| * umschalten (sh. parameter.h) |
| */ |
| if (PARAM_X_FORMATION) { |
| chanRoll = -chanRoll; |
| // Stick-Koordinatensystem um -45° (rechts) drehen |
| chanNick *= COS45; |
| chanRoll *= COS45; |
| int chanNickTemp = (chanNick - chanRoll) / 10000L; |
| int chanRollTemp = (chanRoll + chanNick) / 10000L; |
| chanNick = chanNickTemp; |
| chanRoll = -chanRollTemp; |
| if (chanNick > MAX_CHAN_VAL) |
| chanNick = MAX_CHAN_VAL; |
| if (chanNick < -MAX_CHAN_VAL) |
| chanNick = -MAX_CHAN_VAL; |
| if (chanRoll > MAX_CHAN_VAL) |
| chanRoll = MAX_CHAN_VAL; |
| if (chanRoll < -MAX_CHAN_VAL) |
| chanRoll = -MAX_CHAN_VAL; |
| } |
| chanNickDiff = ((chanNick - chanNickPrev) / 3) * 3; |
| chanRollDiff = ((chanRoll - chanRollPrev) / 3) * 3; |
| chanNickPrev = chanNick; |
| chanRollPrev = chanRoll; |
| stick_nick = (stick_nick * 3 + ((int) chanNick) * EE_Parameter.Stick_P) / 4; |
| stick_nick += chanNickDiff * EE_Parameter.Stick_D; |
| StickNick = stick_nick - GPS_Nick; |
| stick_roll = (stick_roll * 3 + ((int) chanRoll) * EE_Parameter.Stick_P) / 4; |
| stick_roll += chanRollDiff * EE_Parameter.Stick_D; |
| StickRoll = stick_roll - GPS_Roll; |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| if(StickGier > 2) StickGier -= 2; else |
| if(StickGier < -2) StickGier += 2; else StickGier = 0; |
| // Gaswert übernehmen |
| // StickGas = pitchValueFP(); |
| StickGas = pitch_value(); |
| GyroFaktor = (Parameter_Gyro_P + 10.0); |
| IntegralFaktor = Parameter_Gyro_I; |
| GyroFaktorGier = (Parameter_Gyro_P + 10.0); |
| IntegralFaktorGier = Parameter_Gyro_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(GyroFaktor < 0) GyroFaktor = 0; |
| if(IntegralFaktor < 0) 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(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(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; |
| } |
| //if(Poti2 > 20) { tmp_long = 0; tmp_long2 = 0;} |
| 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//(Poti2/10) |
| // 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; |
| //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| IntegralFehlerNick = tmp_long; |
| IntegralFehlerRoll = tmp_long2; |
| Mess_IntegralNick2 -= IntegralFehlerNick; |
| Mess_IntegralRoll2 -= IntegralFehlerRoll; |
| // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
| // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
| if(EE_Parameter.Driftkomp) |
| { |
| if(GierGyroFehler > ABGLEICH_ANZAHL/2) { AdNeutralGier++; AdNeutralGierBias++; } |
| if(GierGyroFehler <-ABGLEICH_ANZAHL/2) { AdNeutralGier--; AdNeutralGierBias--; } |
| } |
| //DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| //DebugOut.Analog[24] = GierGyroFehler; |
| GierGyroFehler = 0; |
| /*DebugOut.Analog[17] = IntegralAccNick / 26; |
| DebugOut.Analog[18] = IntegralAccRoll / 26; |
| DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
| DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
| */ |
| //DebugOut.Analog[21] = MittelIntegralNick / 26; |
| //MittelIntegralRoll = MittelIntegralRoll; |
| //DebugOut.Analog[28] = ausgleichNick; |
| /* |
| DebugOut.Analog[29] = ausgleichRoll; |
| DebugOut.Analog[30] = LageKorrekturRoll * 10; |
| */ |
| #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(IntegralFehlerNick) / 4096; |
| if(labs(IntegralFehlerRoll) > FEHLER_LIMIT1) cnt = 4; |
| ausgleichRoll = 0; |
| 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(GasMischanteil < 35) { if(StickGier > 10) StickGier = 10; else if(StickGier < -10) StickGier = -10;}; |
| 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 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //DebugOut.Analog[16] = KompassSignalSchlecht; |
| if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| { |
| int w,v,r,fehler,korrektur; |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| korrektur = w / 8 + 1; |
| fehler = ((540 + KompassValue - (ErsatzKompass/GIER_GRAD_FAKTOR)) % 360) - 180; |
| if(abs(MesswertGier) > 128) |
| { |
| fehler = 0; |
| } |
| if(!KompassSignalSchlecht && w < 25) |
| { |
| GierGyroFehler += fehler; |
| if(NeueKompassRichtungMerken) |
| { |
| // beeptime = 200; |
| // KompassStartwert = KompassValue; |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| KompassStartwert = (ErsatzKompass/GIER_GRAD_FAKTOR); |
| NeueKompassRichtungMerken = 0; |
| } |
| } |
| ErsatzKompass += (fehler * 8) / 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; |
| // r = KompassRichtung; |
| v = (r * w) / v; // nach Kompass ausrichten |
| w = 3 * Parameter_KompassWirkung; |
| if(v > w) v = w; // Begrenzen |
| else |
| if(v < -w) v = -w; |
| Mess_Integral_Gier += v; |
| } |
| if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| } |
| else KompassSignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 24; |
| 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] = MesswertGier; |
| DebugOut.Analog[5] = HoehenWert; |
| DebugOut.Analog[6] = Aktuell_az;//(Mess_Integral_Hoch / 512);//Aktuell_az; |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[11] = ErsatzKompass / GIER_GRAD_FAKTOR; |
| DebugOut.Analog[10] = SenderOkay; |
| //DebugOut.Analog[16] = Mittelwert_AccHoch; |
| //DebugOut.Analog[17] = FromNaviCtrl_Value.Distance; |
| //DebugOut.Analog[18] = (int)FromNaviCtrl_Value.OsdBar; |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| DebugOut.Analog[20] = ServoValue; |
| // DebugOut.Analog[24] = MesswertNick/2; |
| // DebugOut.Analog[25] = MesswertRoll/2; |
| DebugOut.Analog[27] = (int)FromNaviCtrl_Value.Kalman_MaxDrift; |
| // DebugOut.Analog[28] = (int)FromNaviCtrl_Value.Kalman_MaxFusion; |
| // DebugOut.Analog[29] = (int)FromNaviCtrl_Value.Kalman_K; |
| DebugOut.Analog[29] = FromNaviCtrl_Value.SerialDataOkay; |
| DebugOut.Analog[30] = GPS_Nick; |
| DebugOut.Analog[31] = GPS_Roll; |
| // DebugOut.Analog[19] -= DebugOut.Analog[19]/128; |
| // if(DebugOut.Analog[19] > 0) DebugOut.Analog[19]--; else DebugOut.Analog[19]++; |
| /* DebugOut.Analog[16] = motor_rx[0]; |
| DebugOut.Analog[17] = motor_rx[1]; |
| DebugOut.Analog[18] = motor_rx[2]; |
| DebugOut.Analog[19] = motor_rx[3]; |
| DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
| DebugOut.Analog[20] /= 14; |
| DebugOut.Analog[21] = motor_rx[4]; |
| DebugOut.Analog[22] = motor_rx[5]; |
| DebugOut.Analog[23] = motor_rx[6]; |
| DebugOut.Analog[24] = motor_rx[7]; |
| DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
| */ |
| // DebugOut.Analog[9] = MesswertNick; |
| // DebugOut.Analog[9] = SollHoehe; |
| // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| // DebugOut.Analog[11] = KompassStartwert; |
| // DebugOut.Analog[10] = Parameter_Gyro_I; |
| // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| // DebugOut.Analog[9] = KompassRichtung; |
| // DebugOut.Analog[10] = GasMischanteil; |
| // DebugOut.Analog[3] = HoeheD * 32; |
| // DebugOut.Analog[4] = hoehenregler; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // 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*4) |
| 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; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // all BL-Ctrl connected? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(MissingMotor) if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) |
| { |
| modell_fliegt = 1; |
| GasMischanteil = MIN_GAS; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil *= STICK_GAIN; |
| /* |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| { |
| int tmp_int; |
| static char delay = 100; |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { |
| if(Parameter_MaxHoehe < 50) |
| { |
| if(!delay--) |
| { |
| if((MessLuftdruck > 1000) && OCR0A < 254) |
| { |
| if(OCR0A < 244) |
| { |
| ExpandBaro -= 10; |
| OCR0A = DruckOffsetSetting - ExpandBaro; |
| } |
| else OCR0A = 254; |
| beeptime = 300; |
| delay = 250; |
| } |
| else |
| if((MessLuftdruck < 100) && OCR0A > 1) |
| { |
| if(OCR0A > 10) |
| { |
| ExpandBaro += 10; |
| OCR0A = DruckOffsetSetting - ExpandBaro; |
| } |
| else OCR0A = 1; |
| beeptime = 300; |
| delay = 250; |
| } |
| else |
| { |
| SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| HoehenReglerAktiv = 0; |
| delay = 1; |
| } |
| } |
| } |
| else |
| { |
| HoehenReglerAktiv = 1; |
| delay = 200; |
| } |
| } |
| else |
| { |
| SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
| HoehenReglerAktiv = 1; |
| } |
| if(Notlandung) SollHoehe = 0; |
| h = HoehenWert; |
| if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| { |
| h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / (16 / STICK_GAIN); // Differenz bestimmen --> P-Anteil |
| h = GasMischanteil - h; // vom Gas abziehen |
| h -= (HoeheD)/(8/STICK_GAIN); // D-Anteil |
| tmp_int = ((Mess_Integral_Hoch / 128) * (signed long) Parameter_Hoehe_ACC_Wirkung) / (128 / STICK_GAIN); |
| if(tmp_int > 70*STICK_GAIN) tmp_int = 70*STICK_GAIN; |
| else if(tmp_int < -(70*STICK_GAIN)) tmp_int = -(70*STICK_GAIN); |
| h -= tmp_int; |
| hoehenregler = (hoehenregler*15 + h) / 16; |
| if(hoehenregler < EE_Parameter.Hoehe_MinGas * STICK_GAIN) // nicht unter MIN |
| { |
| if(GasMischanteil >= EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = EE_Parameter.Hoehe_MinGas * STICK_GAIN; |
| if(GasMischanteil < EE_Parameter.Hoehe_MinGas * STICK_GAIN) hoehenregler = GasMischanteil; |
| } |
| if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| GasMischanteil = hoehenregler; |
| } |
| } |
| */ |
| // Fehlerwert der Höhenregelung einmischen |
| GasMischanteil -= altcon_error(); |
| if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = GasMischanteil; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MUL_G 1.0 |
| GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| // GierMischanteil = 0; |
| #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
| if(GasMischanteil > MIN_GIERGAS) |
| { |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| } |
| else |
| { |
| if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
| } |
| tmp_int = MAX_GAS*STICK_GAIN; |
| if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // 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 = DiffNick + 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 = DiffRoll + 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) |
| { |
| tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
| tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
| tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
| tmp_motorwert[i] = MotorSmoothing(tmp_int,tmp_motorwert[i]); // Filter |
| tmp_int = tmp_motorwert[i] / STICK_GAIN; |
| CHECK_MIN_MAX(tmp_int,MIN_GAS,MAX_GAS); |
| Motor[i] = tmp_int; |
| } |
| else Motor[i] = 0; |
| } |
| /* |
| if(Poti1 > 20) Motor1 = 0; |
| if(Poti1 > 90) Motor6 = 0; |
| if(Poti1 > 140) Motor2 = 0; |
| //if(Poti1 > 200) Motor7 = 0; |
| */ |
| } |
| /branches/thjac/V1_13/fc.h |
|---|
| 0,0 → 1,184 |
| /*####################################################################################### |
| 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 FLAG_MOTOR_RUN 1 |
| #define FLAG_FLY 2 |
| #define FLAG_CALIBRATE 4 |
| #define FLAG_START 8 |
| #define MAX_MOTORS 12 |
| #define CHECK_MIN_MAX(wert,min,max) {if(wert < min) wert = min; else if(wert > max) wert = max;} |
| extern volatile unsigned char MikroKopterFlags; |
| extern volatile unsigned int I2CTimeout; |
| extern unsigned char Sekunde,Minute; |
| extern long IntegralNick,IntegralNick2; |
| extern long IntegralRoll,IntegralRoll2; |
| //extern int IntegralNick,IntegralNick2; |
| //extern int IntegralRoll,IntegralRoll2; |
| extern long Mess_IntegralNick,Mess_IntegralNick2; |
| extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern long IntegralAccNick,IntegralAccRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern int KompassValue; |
| extern int KompassStartwert; |
| extern int KompassRichtung; |
| extern int TrimNick, TrimRoll; |
| extern long ErsatzKompass; |
| extern int ErsatzKompassInGrad; // Kompasswert in Grad |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern int MesswertNick,MesswertRoll,MesswertGier; |
| extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern unsigned char HoehenReglerAktiv; |
| extern volatile float NeutralAccZ; |
| extern long Umschlag180Nick, Umschlag180Roll; |
| extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
| extern unsigned int modell_fliegt; |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| extern 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 unsigned char RequiredMotors; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern void DefaultKonstanten1(void); |
| extern void DefaultKonstanten2(void); |
| extern void DefaultKonstanten3(void); |
| extern void DefaultStickMapping(void); |
| #define STRUCT_PARAM_LAENGE sizeof(EE_Parameter) |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char Gyro_D; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| unsigned char 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 |
| //---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 |
| //------------------------------------------------ |
| unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[4]; |
| char Name[12]; |
| }; |
| struct |
| { |
| char Revision; |
| char Name[12]; |
| signed char Motor[16][4]; |
| } Mixer; |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_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_J16Brightness; // for the J16 Output |
| extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
| extern unsigned char Parameter_J17Timing; // for the J17 Output |
| extern unsigned char Parameter_J17Brightness; // for the J17 Output |
| extern signed char MixerTable[MAX_MOTORS][4]; |
| extern unsigned char Motor[MAX_MOTORS]; |
| #endif //_FC_H |
| /branches/thjac/V1_13/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.c"></File><File path="altcon.c"></File><File path="analog.c"></File><File path="eeprom.c"></File><File path="fc.c"></File><File path="GPS.c"></File><File path="led.c"></File><File path="main.c"></File><File path="menu.c"></File><File path="pitch.c"></File><File path="pitch_md.c"></File><File path="printf_P.c"></File><File path="rc.c"></File><File path="Spectrum.c"></File><File path="spi.c"></File><File path="timer0.c"></File><File path="twimaster.c"></File><File path="altcon.h"></File><File path="analog.h"></File><File path="fc.h"></File><File path="gps.h"></File><File path="led.h"></File><File path="main.h"></File><File path="menu.h"></File><File path="old_macros.h"></File><File path="parameter.h"></File><File path="pitch.h"></File><File path="pitch_md.h"></File><File path="printf_P.h"></File><File path="rc.h"></File><File path="Settings.h"></File><File path="Spectrum.h"></File><File path="spi.h"></File><File path="timer0.h"></File><File path="twimaster.h"></File><File path="uart.h"></File><File path="makefile"></File></Project> |
| /branches/thjac/V1_13/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/thjac/V1_13/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/thjac/V1_13/led.c |
|---|
| 0,0 → 1,117 |
| #include <inttypes.h> |
| #include "main.h" |
| #include "parameter.h" |
| unsigned char J16Blinkcount = 0, J16Mask = 1, J16Brightness = 0, J16 = 0; |
| unsigned char J17Blinkcount = 0, J17Mask = 1, J17Brightness = 0, J17 = 0; |
| unsigned char lightsEnabled = 0, lightsOn = 0; |
| extern char MotorenEin; |
| void setJ16(char enabled) { |
| if ((enabled && lightsOn) ^ LED_NEGATE_J16) |
| J16_ON; |
| else |
| J16_OFF; |
| } |
| void setJ17(char enabled) { |
| if ((enabled && lightsOn) ^ LED_NEGATE_J17) |
| J17_ON; |
| else |
| J17_OFF; |
| } |
| // 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); |
| lightsOn = lightsEnabled = 0; |
| setJ16(0); |
| setJ17(0); |
| J16Blinkcount = 0; |
| J16Mask = 128; |
| J17Blinkcount = 0; |
| J17Mask = 128; |
| } |
| static inline void checkLightsEnabled(void) { |
| // Die LED's können mit den Motoren ein- ausgeschaltet werden |
| if (PARAM_LED_ENGINE_ENABLED) |
| lightsEnabled = MotorenEin; |
| // Die LED's können mit den Motoren ein- ausgeschaltet werden |
| else if (PARAM_LED_STICK_ENABLED) { |
| if (!MotorenEin) { |
| if (PPM_in[ EE_Parameter.Kanalbelegung[ K_GAS ] ] > 35 - 120 |
| && PPM_in[ EE_Parameter.Kanalbelegung[ K_GAS ] ] < 120 - 35) { |
| if (PPM_in[ EE_Parameter.Kanalbelegung[ K_GIER ] ] < -75) |
| lightsEnabled = 1; |
| if (PPM_in[ EE_Parameter.Kanalbelegung[ K_GIER ] ] > 75) |
| lightsEnabled = 0; |
| } |
| } |
| } else |
| lightsEnabled = 1; |
| lightsOn = lightsEnabled; |
| } |
| // called in UpdateMotors() every 2ms |
| void LED_Update(void) { |
| static char delay = 0; |
| if (!delay--) { |
| delay = 9; // 20ms Intervall |
| checkLightsEnabled(); |
| // Soll die Unterspannungswarnung zu einem schnelleren Blinken führen? |
| // Grenze für Unterspannungswarnung erreicht? |
| if (PARAM_LED_WARNING_SPEEDUP && UBat < EE_Parameter.UnterspannungsWarnung) { |
| if (PARAM_LED_FORCE_WARNING_ENABLED) // Erzwingt die Aktivierung der Ausgänge |
| lightsOn = 1; |
| delay /= PARAM_LED_WARNING_SPEEDUP + 1; |
| } |
| // J16 |
| if (EE_Parameter.J16Timing > 250 && Parameter_J16Timing > 230) |
| J16 = EE_Parameter.J16Bitmask & 128; |
| else if (EE_Parameter.J16Timing > 250 && Parameter_J16Timing < 10) |
| J16 = !(EE_Parameter.J16Bitmask & 128); |
| else if (!J16Blinkcount--) { |
| J16Blinkcount = Parameter_J16Timing - 1; |
| J16Mask = (J16Mask == 1 ? 0x80 : J16Mask >> 1); |
| J16 = EE_Parameter.J16Bitmask & J16Mask; |
| } |
| J16Brightness = EE_Parameter.J16Bitmask & J16Mask ? Parameter_J16Brightness / 23 : 0; |
| // J17 |
| if (EE_Parameter.J17Timing > 250 && Parameter_J17Timing > 230) |
| J17 = EE_Parameter.J17Bitmask & 128; |
| else if (EE_Parameter.J17Timing > 250 && Parameter_J17Timing < 10) |
| J17 = !(EE_Parameter.J17Bitmask & 128); |
| else if (!J17Blinkcount--) { |
| J17Blinkcount = Parameter_J17Timing - 1; |
| J17Mask = (J17Mask == 1 ? 0x80 : J17Mask >> 1); |
| J17 = EE_Parameter.J17Bitmask & J17Mask; |
| } |
| J17Brightness = EE_Parameter.J17Bitmask & J17Mask ? Parameter_J17Brightness / 23 : 0; |
| } |
| // delay: 0...9 - BRIGHTNESS/23: 0-Aus...10-Max - Bei Unterspannung volle Leuchtkraft |
| setJ16(J16 && (delay < J16Brightness || UBat < EE_Parameter.UnterspannungsWarnung)); |
| setJ17(J17 && (delay < J17Brightness || UBat < EE_Parameter.UnterspannungsWarnung)); |
| } |
| /branches/thjac/V1_13/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/thjac/V1_13/main.c |
|---|
| 0,0 → 1,378 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + 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 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 "main.h" |
| #include "altcon.h" |
| #include "pitch.h" |
| #include "led.h" |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| unsigned char PlatinenVersion = 10; |
| unsigned char SendVersionToNavi = 1; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [1..5] |
| void init( void ) { |
| LED_Init(); |
| altcon_init(); |
| pitch_init(); |
| } |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) { |
| if ((number > 5) || (number < 1)) number = 3; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [1..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if(number > 5) number = 5; |
| if(number < 1) return; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * (number - 1)], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_LENGTH], length); // Länge der Datensätze merken |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_CHANNELS], 8); // 8 Kanäle merken |
| SetActiveParamSetNumber(number); |
| LED_Init(); |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| unsigned char set; |
| set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
| if((set > 5) || (set < 1)) |
| { |
| set = 3; |
| SetActiveParamSetNumber(set); // diesen Parametersatz als aktuell merken |
| } |
| return(set); |
| } |
| void SetActiveParamSetNumber(unsigned char number) |
| { |
| if(number > 5) number = 5; |
| if(number < 1) return; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| void CalMk3Mag(void) |
| { |
| static unsigned char stick = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -20) stick = 0; |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -70) && !stick) |
| { |
| stick = 1; |
| WinkelOut.CalcState++; |
| if(WinkelOut.CalcState > 4) |
| { |
| // WinkelOut.CalcState = 0; // in Uart.c |
| beeptime = 1000; |
| } |
| else Piep(WinkelOut.CalcState); |
| } |
| DebugOut.Analog[19] = WinkelOut.CalcState; |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer,i; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| if(PINB & 0x01) |
| { |
| if(PINB & 0x02) PlatinenVersion = 13; |
| else PlatinenVersion = 11; |
| } |
| else |
| { |
| if(PINB & 0x02) PlatinenVersion = 20; |
| else PlatinenVersion = 10; |
| } |
| 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 |
| DDRD |=0x80; // J7 -> Servo signal |
| PORTD = 0x47; // LED |
| HEF4017R_ON; |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1160; 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(); |
| sei(); |
| printf("\n\r==================================="); |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR,VERSION_PATCH + 'a'); |
| if(UCSR1A == 0x20 && UCSR1C == 0x06) // initial Values for 644P |
| { |
| Uart1Init(); |
| } |
| GRN_ON; |
| ReadParameterSet(3, (unsigned char *) &EE_Parameter.Kanalbelegung[0], 9); // read only the first bytes |
| if((eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == MIXER_REVISION) && // Check Revision in the first Byte |
| (eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 0xff)) // Settings reset via Koptertool |
| { |
| unsigned char i; |
| RequiredMotors = 0; |
| eeprom_read_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| for(i=0; i<16;i++) { if(Mixer.Motor[i][0] > 0) RequiredMotors++;} |
| } |
| else // default |
| { |
| unsigned char i; |
| printf("\n\rGenerating default Mixer Table"); |
| for(i=0; i<16;i++) { Mixer.Motor[i][0] = 0;Mixer.Motor[i][1] = 0;Mixer.Motor[i][2] = 0;Mixer.Motor[i][3] = 0;}; |
| // default = Quadro |
| Mixer.Motor[0][0] = 64; Mixer.Motor[0][1] = +64; Mixer.Motor[0][2] = 0; Mixer.Motor[0][3] = +64; |
| Mixer.Motor[1][0] = 64; Mixer.Motor[1][1] = -64; Mixer.Motor[1][2] = 0; Mixer.Motor[1][3] = +64; |
| Mixer.Motor[2][0] = 64; Mixer.Motor[2][1] = 0; Mixer.Motor[2][2] = -64; Mixer.Motor[2][3] = -64; |
| Mixer.Motor[3][0] = 64; Mixer.Motor[3][1] = 0; Mixer.Motor[3][2] = +64; Mixer.Motor[3][3] = -64; |
| Mixer.Revision = MIXER_REVISION; |
| memcpy(Mixer.Name, "Quadro\0", 11); |
| eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| } |
| printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Check connected BL-Ctrls |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| printf("\n\rFound BL-Ctrl: "); |
| motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| UpdateMotor = 0; |
| SendMotorData(); |
| while(!UpdateMotor); |
| if(MotorPresent[i]) printf("%d ",i+1); |
| } |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
| MotorError[i] = 0; |
| } |
| printf("\n\r==================================="); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Check Settings |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
| { |
| DefaultKonstanten1(); |
| printf("\n\rInit. EEPROM"); |
| for (unsigned char i=1;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); // Kamera |
| if(i==3) DefaultKonstanten3(); // Beginner |
| if(i>3) DefaultKonstanten2(); // Kamera |
| if(PlatinenVersion >= 20) |
| { |
| EE_Parameter.Gyro_D = 5; |
| EE_Parameter.Driftkomp = 0; |
| EE_Parameter.GyroAccFaktor = 27; |
| EE_Parameter.WinkelUmschlagNick = 78; |
| EE_Parameter.WinkelUmschlagRoll = 78; |
| } |
| // valid Stick-Settings? |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12 && eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
| { |
| EE_Parameter.Kanalbelegung[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
| EE_Parameter.Kanalbelegung[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
| EE_Parameter.Kanalbelegung[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
| EE_Parameter.Kanalbelegung[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
| EE_Parameter.Kanalbelegung[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
| EE_Parameter.Kanalbelegung[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
| EE_Parameter.Kanalbelegung[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
| EE_Parameter.Kanalbelegung[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
| if(i==1) printf(": Generating Default-Parameter using old Stick Settings"); |
| } else DefaultStickMapping(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| SetActiveParamSetNumber(3); // default-Setting |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
| } |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| printf("\n\rACC not calibrated !"); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rUsing parameterset %d", GetActiveParamSetNumber()); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rCalibrating pressure sensor.."); |
| timer = SetDelay(1000); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| ExternControl.Digital[0] = 0x55; |
| printf("\n\rControl: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Normal (ACC-Mode)"); |
| printf("\n\r===================================\n\r"); |
| // Initialisierung muß nach Einlesen der Konfiguration erfolgen |
| init(); |
| LcdClear(); |
| I2CTimeout = 5000; |
| WinkelOut.Orientation = 1; |
| while (1) |
| { |
| if(UpdateMotor && AdReady) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| if(WinkelOut.CalcState) CalMk3Mag(); |
| else MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| ExternControl.Config = 0; |
| ExternStickNick = 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| } |
| if(SenderOkay) SenderOkay--; |
| if(NaviDataOkay) |
| { |
| if(--NaviDataOkay == 0) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| } |
| if(!--I2CTimeout || MissingMotor) |
| { |
| if(!I2CTimeout) |
| { |
| i2c_reset(); |
| I2CTimeout = 5; |
| } |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 10000; |
| BeepMuster = 0x0080; |
| } |
| } |
| else |
| { |
| ROT_OFF; |
| } |
| if(SIO_DEBUG && (!UpdateMotor || !MotorenEin)) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer)) |
| { |
| if(UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| SPI_StartTransmitPacket(); |
| SendSPI = 4; |
| timer = SetDelay(20); |
| } |
| LED_Update(); |
| } |
| if(!SendSPI) { SPI_TransmitByte(); } |
| } |
| return (1); |
| } |
| //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; |
| /branches/thjac/V1_13/main.h |
|---|
| 0,0 → 1,174 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| #define QUADRO |
| //#define OCTO // 2 Arms in Front |
| //#define OCTO2 // 1 Arm in front |
| //#define OCTO3 // 1 Arm with two Motors in front or Coax |
| //+++++++++++ |
| // Quadro: |
| // 1 |
| // 4 3 |
| // 2 |
| //+++++++++++ |
| // Reverse Props on 1 2 |
| //+++++++++++ |
| // Octo: |
| // 1 2 |
| // 8 3 |
| // 7 4 |
| // 6 5 |
| //+++++++++++ |
| //+++++++++++ |
| // Octo2: |
| // 1 |
| // 8 2 |
| // 7 3 |
| // 6 4 |
| // 5 |
| //+++++++++++ |
| //+++++++++++ |
| // Octo3: |
| // 1 |
| // 2 |
| // 8 7 3 4 |
| // 5 |
| // 6 |
| //+++++++++++ |
| // Reverse Props on octo: 1 3 5 7 |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| // 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 F_CPU SYSCLK |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define EE_DATENREVISION 75 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
| #define MIXER_REVISION 1 // wird angepasst, wenn sich die Mixer-Daten geändert haben |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_LAST_OFFSET 3 |
| #define EEPROM_ADR_ACC_NICK 4 |
| #define EEPROM_ADR_ACC_ROLL 6 |
| #define EEPROM_ADR_ACC_Z 8 |
| #define EEPROM_ADR_PITCH_MD_HOVER 10 |
| #define EEPROM_ADR_PITCH_NEUTRAL_DIFF 12 |
| #define EEPROM_ADR_CHANNELS 80 |
| #define EEPROM_ADR_PARAM_LENGTH 98 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define EEPROM_ADR_MIXER_TABLE 1000 // 1001 - 1100 |
| #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_RES1 0x10 |
| #define CFG_RES2 0x20 |
| #define CFG_RES3 0x40 |
| #define CFG_RES4 0x80 |
| #define J3High PORTD |= 0x20 |
| #define J3Low PORTD &= ~0x20 |
| #define J4High PORTD |= 0x10 |
| #define J4Low PORTD &= ~0x10 |
| #define J5High PORTD |= 0x08 |
| #define J5Low PORTD &= ~0x08 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| extern unsigned char SendVersionToNavi; |
| void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| void SetActiveParamSetNumber(unsigned char number); |
| extern unsigned char EEPromArray[]; |
| extern void init( void ); |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_Settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "spi.h" |
| #include "led.h" |
| #define DIV_4 2 |
| #define DIV_128 7 |
| #define MUL_4 2 |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/thjac/V1_13/makefile |
|---|
| 0,0 → 1,449 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644p |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 1 |
| VERSION_MINOR = 13 |
| VERSION_PATCH = 0 |
| VERSION_SERIAL_MAJOR = 10 # Serial Protocol |
| VERSION_SERIAL_MINOR = 1 # Serial Protocol |
| NC_SPI_COMPATIBLE = 6 # Navi-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(MCU), atmega644p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(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)_$(VERSION_MINOR)a |
| endif |
| ifeq ($(VERSION_PATCH), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b |
| endif |
| ifeq ($(VERSION_PATCH), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c |
| endif |
| ifeq ($(VERSION_PATCH), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d |
| endif |
| ifeq ($(VERSION_PATCH), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e |
| endif |
| ifeq ($(VERSION_PATCH), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f |
| endif |
| ifeq ($(VERSION_PATCH), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g |
| endif |
| ifeq ($(VERSION_PATCH), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h |
| endif |
| ifeq ($(VERSION_PATCH), 8) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i |
| endif |
| ifeq ($(VERSION_PATCH), 9) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j |
| endif |
| ifeq ($(VERSION_PATCH), 10) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k |
| endif |
| ifeq ($(VERSION_PATCH), 11) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)L |
| endif |
| ifeq ($(VERSION_PATCH), 12) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m |
| endif |
| ifeq ($(VERSION_PATCH), 13) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n |
| endif |
| ifeq ($(VERSION_PATCH), 14) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o |
| endif |
| ifeq ($(VERSION_PATCH), 15) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p |
| endif |
| ifeq ($(VERSION_PATCH), 16) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q |
| endif |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = 2 |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c spi.c led.c Spectrum.c |
| SRC += altcon.c pitch.c pitch_md.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(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 |
| CFLAGS += -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 += -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) -A $(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 $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym 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. |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo Size before:; $(ELFSIZE); $(HEXSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo Size after:; $(ELFSIZE); $(HEXSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(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) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # 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/thjac/V1_13/menu.c |
|---|
| 0,0 → 1,185 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "altcon.h" |
| #include "pitch.h" |
| #include "pitch_md.h" |
| #include "parameter.h" |
| #include "fc.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char MaxMenue = 14; |
| 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(void) |
| { |
| if(MenuePunkt > MaxMenue) MenuePunkt = MaxMenue; |
| 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",GetActiveParamSetNumber(),Mixer.Name); |
| if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
| else |
| if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d!!",MissingMotor) |
| else LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %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]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]); |
| 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,"Gier %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,"Gier %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,"Hoch %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| case 11: |
| 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 12: |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| LCD_printfxy(0,1," %3d %3d %3d %3d ",MotorError[0],MotorError[1],MotorError[2],MotorError[3]); |
| LCD_printfxy(0,2," %3d %3d %3d %3d ",MotorError[4],MotorError[5],MotorError[6],MotorError[7]); |
| LCD_printfxy(0,3," %3d %3d %3d %3d ",MotorError[8],MotorError[9],MotorError[10],MotorError[11]); |
| break; |
| case 13: |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",MotorPresent[0] + '-',MotorPresent[1] + '-',MotorPresent[2] + '-',MotorPresent[3] + '-'); |
| LCD_printfxy(0,2," %c %c %c %c ",MotorPresent[4] + '-',MotorPresent[5] + '-',MotorPresent[6] + '-',MotorPresent[7] + '-'); |
| LCD_printfxy(0,3," %c - - -",MotorPresent[8] + '-'); |
| if(MotorPresent[9]) LCD_printfxy(4,3,"10"); |
| if(MotorPresent[10]) LCD_printfxy(8,3,"11"); |
| if(MotorPresent[11]) LCD_printfxy(12,3,"12"); |
| break; |
| case 14: |
| LCD_printfxy( 0, 0, "PitchControl " ); |
| LCD_printfxy( 0, 1, "Modus : %2s", pitchModeStrings[ pitch_currentMode() ] ); |
| // MD-Modus |
| switch( pitch_currentMode() ) { |
| case PARAM_PITCH_MODE_MD: |
| LCD_printfxy( 0, 2, "Standgas (%02d): %3i", PARAM_PITCH_HOVER_PERCENT, pitch_standValue() ); |
| LCD_printfxy( 0, 3, "Schwebegas : %3i", pitch_hoverValue() ); |
| break; |
| } |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteKeys = 0; |
| } |
| /branches/thjac/V1_13/menu.h |
|---|
| 0,0 → 1,9 |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| extern unsigned char MaxMenue; |
| extern unsigned char MenuePunkt; |
| extern unsigned char RemoteKeys; |
| /branches/thjac/V1_13/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/thjac/V1_13/parameter.h |
|---|
| 0,0 → 1,107 |
| /* parameter.h |
| */ |
| #ifndef PARAMETER_H |
| #define PARAMETER_H |
| #define PARAM_TIMER_1S 50 // 1 Sekunde |
| #define PARAM_TIMER_2S 100 // 2 Sekunden |
| #define PITCH_NEUTRAL_TIMER 25 |
| #define PITCH_MIN2_TIMER 100 |
| #define PARAM_ALT_P Parameter_Hoehe_P |
| #define PARAM_ALT_D Parameter_Luftdruck_D |
| #define PARAM_ALT_ACC Parameter_Hoehe_ACC_Wirkung |
| #define PARAM_ALT_GAIN Parameter_UserParam3 |
| #define PARAM_ALT_MAX Parameter_UserParam4 |
| /****************************************************************************************** |
| * Allgemeine Pitch-Steuerungsparameter |
| */ |
| #define PARAM_PITCH_STICK_THRESHOLD 4 |
| #define PARAM_PITCH_HOVER_PERCENT Parameter_UserParam2 |
| /****************************************************************************************** |
| * Parameter für MD-Pitch-Steuerung |
| */ |
| #define PARAM_PITCH_MD_DELAY0 2 // Begrenzung der Pitch-Beschleunigung am Boden |
| #define PARAM_PITCH_MD_DELAY1 10 // Begrenzung der Pitch-Beschleunigung nach Start |
| #define PARAM_PITCH_MD_DELAY2 20 // Begrenzung der Pitch-Beschleunigung im Flug |
| #define PARAM_PITCH_MD_DELAY_AUTOSTART 5 // Begrenzung der Pitch-Beschleunigung bei Autostart |
| #define PARAM_PITCH_AUTOSTART_ALT EE_Parameter.MaxHoehe // Sollhöhe in 1/20m |
| #define PARAM_PITCH_AUTOSTART_DELAY 10 // Steiggeschwindigkeit |
| /****************************************************************************************** |
| * Parameter für LED-Ansteuerung |
| */ |
| /* Helligkeit J16 |
| */ |
| #define PARAM_LED_BRIGHTNESS_J16 ( Parameter_UserParam5 ) // 0-250, 25x=PotiX, Wert wird durch 23 geteilt |
| /* Helligkeit J17 |
| */ |
| #define PARAM_LED_BRIGHTNESS_J17 ( Parameter_UserParam6 ) // 0-250, 25x=PotiX, Wert wird durch 23 geteilt |
| /* Die Ausgänge J16/J17 lassen sich wahlweise bei stehenden Motoren üner den Gierstick schalten. |
| */ |
| #define PARAM_LED_STICK_ENABLED ( Parameter_UserParam7 & 0x01 ) // 0=deaktiviert 1=aktiviert, wird durch Motorkopplung übersteuert |
| /* Die Ausgänge J16/J17 lassen sich wahlweise über die Motoren koppeln, so daß |
| * die Ausgänge bei ausgeschalteten Motoren unabhängig vom eingestellten Blink-Muster |
| * deaktiviert sind. |
| */ |
| #define PARAM_LED_ENGINE_ENABLED ( Parameter_UserParam7 & 0x02 ) // 0=deaktiviert 1=an Motoren gekoppelt |
| /* Wenn die Unterspannungswarnung aktiv wird, kann mit diesem Parameter eingestellt |
| * werden, daß sich die Blinkfrequenz der LED's verdoppelt. |
| */ |
| #define PARAM_LED_WARNING_SPEEDUP ( Parameter_UserParam7 & 0x04 ) // 0=deaktiviert >0=Blinkenbeschleunigung |
| /* Erzwingt die Aktivierung der LED-Ausgänge im Fall einer |
| * Unterspannungswarnung. |
| */ |
| #define PARAM_LED_FORCE_WARNING_ENABLED ( Parameter_UserParam7 & 0x08 ) // 0=deaktiviert 1=aktiviert |
| /* Wenn gesetzt, wird der Pegel des Ausgangs J16 vertauscht. |
| */ |
| #define PARAM_LED_NEGATE_J16 ( Parameter_UserParam7 & 0x10 ) // 0=normal 1=invertiert |
| #define LED_NEGATE_J16 ( PARAM_LED_NEGATE_J16 >> 3 ) |
| /* Wenn gesetzt, wird der Pegel des Ausgangs J17 vertauscht. |
| */ |
| #define PARAM_LED_NEGATE_J17 ( Parameter_UserParam7 & 0x20 ) // 0=normal 1=invertiert |
| #define LED_NEGATE_J17 ( PARAM_LED_NEGATE_J17 >> 4 ) |
| /****************************************************************************************** |
| * Konfiguration |
| */ |
| /* Die Motoren können über diesen Parameter deaktiviert werden. Ein Wert von 1 |
| * deaktiviert die Motoren und kann zum Testen verwendet werden. |
| */ |
| #define PARAM_ENGINE_ENABLED ( !( EE_Parameter.UserParam1 & 0x01 ) ) // 1=deaktiviert 0=aktiviert |
| /* Dieser Parameter legt fest, ob in '+'-Formation (normal) oder 'X'-Formation |
| * geflogen werden soll. Zur Umschaltung reicht das Setzen des Parameters. Ein |
| * Umbau der FC oder Einstellungen am Sender sind nicht notwendig. |
| */ |
| #define PARAM_X_FORMATION ( EE_Parameter.UserParam8 & 0x01 ) // 0=+, 1=X |
| /* Steuert, ob beim bzw. vor dem Start der Motoren eine Kalibrierung erfolgen |
| * soll. |
| */ |
| #define PARAM_CAL_ON_START ( EE_Parameter.UserParam8 & 0x02 ) // 0=deaktiviert 1=aktiviert |
| /* Erlaubt das erstmalige Aktivieren der Höhenregelung nach Start ohne Schnippenlassen des Sticks. |
| */ |
| #define PARAM_PITCH_SOFT_ACTIVATING ( EE_Parameter.UserParam8 & 0x04 ) |
| #endif // PARAMETER_H |
| /branches/thjac/V1_13/pitch.c |
|---|
| 0,0 → 1,108 |
| /* pitch.c |
| * |
| * Copyright 2009 Thomas Jachmann |
| * |
| * Pitch-Steuerung |
| */ |
| #include "main.h" |
| #include "parameter.h" |
| #include "pitch_md.h" |
| #include "pitch.h" |
| #define UNDEFINED 255 |
| int pitchInitialStickValue = UNDEFINED; |
| unsigned char pitchMode = PARAM_PITCH_MODE_MK; |
| char *pitchModeStrings[] = { |
| "MK", |
| "MD", |
| "??" |
| }; |
| // Prototypen |
| int pitch_mk_value( void ); |
| /* |
| * Führt die Initialisierung der Pitch-Steuerung durch. Diese Funktion |
| * wird nach jeder Setting-Auswahl sowie nach jeder Setting-Änderung |
| * aufgerufen. |
| */ |
| void pitch_init( void ) { |
| // Der Schalter Höhenregelung bestimmt den Pitch-Modus |
| if( EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG ) { |
| pitchMode = PARAM_PITCH_MODE_MD; |
| } else { |
| pitchMode = PARAM_PITCH_MODE_MK; |
| } |
| // Nur beim Einschalten ermitteln, da beim Setting-Wechsel ungültig |
| if( pitchInitialStickValue == UNDEFINED ) { |
| // Warten, bis ein gültiger Wert von der Fernsteuerung anliegt |
| unsigned int timer = SetDelay( 500 ); |
| while( !CheckDelay( timer ) ); |
| pitchInitialStickValue = PPM_in[ EE_Parameter.Kanalbelegung[ K_GAS ] ]; |
| } |
| /* Die Stick-Position beim Einschalten muß mit dem im Setting eingestellten |
| * Pitch-Modus übereinstimmen. Sonst wird die Pitch-Steuerung aus Sicherheits- |
| * gründen deaktiviert. Selbiges gilt, wenn die Höhenregelung deaktiviert wurde. |
| */ |
| switch( pitchMode ) { |
| // Pitch-Modus mit 0-Gas |
| case PARAM_PITCH_MODE_MK: |
| if( pitchInitialStickValue > 35 - 120 ) { |
| pitchMode = PARAM_PITCH_MODE_INVALID; |
| } |
| break; |
| // Pitch-Modus mit neutralisiertem Gas und Standgas |
| case PARAM_PITCH_MODE_MD: |
| if( abs( pitchInitialStickValue ) > PARAM_PITCH_STICK_THRESHOLD ) { |
| pitchMode = PARAM_PITCH_MODE_INVALID; |
| } else { |
| pitch_md_init(); |
| } |
| break; |
| } |
| } |
| int pitch_value( void ) { |
| switch( pitchMode ) { |
| // Pitch-Modus mit 0-Gas |
| case PARAM_PITCH_MODE_MK: |
| return pitch_mk_value(); |
| // Pitch-Modus mit neutralisiertem Gas und Standgas |
| case PARAM_PITCH_MODE_MD: |
| return pitch_md_value(); |
| default: |
| return 0; |
| } |
| } |
| /* |
| * Führt eine Pitch-Berechnung aus, die der Original-SW entspricht. |
| */ |
| int pitch_mk_value( void ) { |
| register int stickValue = PPM_in[ EE_Parameter.Kanalbelegung[ K_GAS ] ]; |
| register int pitchCount = stickValue + 120; |
| DebugOut.Analog[26] = stickValue; |
| return pitchCount; |
| } |
| /branches/thjac/V1_13/pitch.h |
|---|
| 0,0 → 1,25 |
| /* pitch.h |
| * |
| * copyright 2009 Thoams Jachmann |
| */ |
| #ifndef _PITCH_H |
| #define _PITCH_H |
| #define PARAM_PITCH_MODE_MK 0x00 |
| #define PARAM_PITCH_MODE_MD 0x01 |
| #define PARAM_PITCH_MODE_INVALID 0x02 |
| #define pitch_initialStickValue() pitchInitialStickValue |
| #define pitch_currentMode() ( pitchMode ) |
| #define pitch_currentModeString() ( pitchModeStrings[ pitchMode ] ) |
| extern void pitch_init( void ); |
| extern int pitch_value( void ); |
| extern int pitchInitialStickValue; |
| extern unsigned char pitchMode; |
| extern char *pitchModeStrings[]; |
| #endif // PITCH_H |
| /branches/thjac/V1_13/pitch_md.c |
|---|
| 0,0 → 1,581 |
| /* pitch_md.c |
| * |
| * Copyright 2009 Thomas Jachmann |
| * |
| * Die in dieser Quelldatei enthaltenen Algorithmen ermöglichen eine MD-ähnliche Pitch-Steuerung |
| * für den MK. |
| */ |
| #include "main.h" |
| #include "parameter.h" |
| #include "fc.h" |
| #include "pitch.h" |
| #include "altcon.h" |
| #define STATE_INITIALIZE 0x01 // Anfangszustand nach Einschalten der Motoren |
| #define STATE_SETUP 0x02 // Ermittlung von PARAM_PITCH_MD_HOVER |
| #define STATE_SETUP_HOVER 0x03 // Konfiguration pitchHover |
| #define STATE_SETUP_STICK_DELTA 0x04 // Konfiguration pitchNeutralDiff |
| #define STATE_SETUP_STICK_DELTA1 0x05 |
| #define STATE_BEGIN 0x06 // Anfangszustand für Flugbetrieb |
| #define STATE_BEGIN1 0x07 // Anfangszustand für Flugbetrieb |
| #define STATE_READY0 0x08 // Manuelle Kontrolle |
| #define STATE_READY 0x09 // Manuelle Kontrolle |
| #define STATE_READY1 0x0a |
| #define STATE_WAIT 0x0b // Warten auf Einschalten der Höhenregelung |
| #define STATE_ACTIVATING 0x0c // Aktivierung der Höhenregelung |
| #define STATE_ACTIVE 0x0d // Höhenregelung ist aktiv |
| #define STATE_RESTART 0x0e // Neustart |
| #define STATE_AUTOSTART0 0x0f // Autostartsequenz 0 |
| #define STATE_AUTOSTART1 0x10 // Autostartsequenz 1 |
| static int lastStickValue = 0; // Vorheriger Stick-Wert |
| static int actualPitchCount = 0; // Soll-Pitch-Wert |
| static int targetPitchCount = 0; // Ist-Pitch-Wert |
| static int pitchOffset; // Aktueller Grundgaswert in Neutralstellung |
| static char state; // Zustand |
| static int timer; |
| static int delay = 0; |
| static int delayCounter = 0; |
| static int peakPitchCount; |
| unsigned char pitchHover = 0; // Schwebegaswert |
| unsigned char pitchStand = 0; // Standgaswert |
| unsigned char pitchNeutralDiff = 0; |
| void pitch_md_init( void ) { |
| pitchHover = eeprom_read_byte( &EEPromArray[ EEPROM_ADR_PITCH_MD_HOVER ] ); |
| pitchStand = pitchHover * PARAM_PITCH_HOVER_PERCENT / 100; |
| pitchNeutralDiff = eeprom_read_byte( &EEPromArray[ EEPROM_ADR_PITCH_NEUTRAL_DIFF ] ); |
| } |
| /* |
| * Berechnet den aktuellen Pitch-Wert für die Regelung |
| * |
| * Funktionsweise: |
| * |
| * 1. Einmalig muß man das Schwebegas einstellen. Schwebegas ist ein neuer Parameter. |
| * Dies tut man durch Betätigen des Roll-Sticks nach links (Vollausschlag) und |
| * Starten der Motoren. Nun gibt man soviel Gas (in der oberen Hälfte des Stick-Bereichs), bis der MK |
| * kurz über dem Boden schwebt (im Bodeneffekt). Man hält diese Stick-Position solange, bis ein |
| * Signal ertönt (ca. 1 Sekunde). Das Signal ist die Bestätigung für die Übernahme des aktuellen Gaswertes |
| * als Schwebegas. Der Wert wird dauerhaft gespeichert und kann im LCD-Display des MK-Tool im letzten Bild |
| * überprüft werden. Diese Kalibrierung muß mit vollem Akku und nach jeder Gewichtsänderung des MK einmal |
| * durchgeführt werden. |
| * |
| * 2. Für den Flug startet man die Motoren und läßt den Stick los. Die Motoren laufen im Leerlaufgas. |
| * |
| * 3. Man kann nun entweder mit oder ohne Unterstützung der Höhenregelung fliegen. |
| * |
| * Mit Unterstützung geht man wie folgt vor: |
| * |
| * Die Startsequenz wird durch Betätigung des Gasknüppels nach oben eingeleitet, bis ein akustisches Signal ertönt. |
| * Hierbei drehen die Motoren noch im Leerlauf. Erst nach Rückstellung des Sticks in die Mittelposition beschleunigen |
| * die Motoren langsam bis zum unter Punkt 1 eingestellten Schwebegas. Nun schaltet automatisch die Höhenregelung zu |
| * und der MK steigt bis auf eine im UserParameter eingestellte Höhe (normalerweise 1 Meter). In Mittelstellung ist |
| * nun die Höhenregelung aktiv, im oberen und unteren Stick-Bereich steigt oder sinkt der MK. |
| * |
| * Ohne Unterstützung geht man wie folgt vor: |
| * |
| * Man schaltet die Motoren durch Betätigung des Gasknüppels nach oben in das Standgas. Hier reicht ein kurzes Antippen |
| * des Sticks. Als Standgas wird 70% des unter Punkt 1 eingestellten Schwebegaswertes angenommen. Nun kann man |
| * manuell gesteuert durch Ausnutzung nur der oberen Hälfte des Stick-Bereichs fliegen. Dies entspricht der herkömmlichen |
| * Steuerung. Da nur der halbe Stick-Weg zur Verfügung steht, ist der Stick-Weg um die Mittelstellung herum höher aufgelöst. |
| * So kann das Gas trotzdem einigermaßen fein gesteuert werden. |
| * |
| * 4. Nach der Landung drückt man den Stick ganz nach unten, bis ein Signal ertönt. Jetzt laufen die Motoren |
| * wieder im Leerlaufgas. Man kann nun neu Starten (ab Punkt 3) oder die Motoren ausschalten. |
| */ |
| int pitch_md_value( void ) { |
| int register rawStickValue = PPM_in[ EE_Parameter.Kanalbelegung[ K_GAS ] ] - pitch_initialStickValue(); |
| int register stickValue; |
| // Sind die Motoren eingeschaltet? |
| if( MotorenEin ) { |
| /* StickValue exponentiell angleichen, da ausgehend von der Neutralstellung |
| * nur jeweils die halbe Auflösung nach oben und unten zur Verfügung steht. Bei einer |
| * Multiplikation mit 2 ließe sich das Gas im Schwebebereich nicht fein genug einstellen. */ |
| if( rawStickValue > 0 ) { |
| stickValue = rawStickValue + ( ( (long) rawStickValue * (long) rawStickValue ) / 150L ); |
| } else { |
| stickValue = rawStickValue - ( ( (long) rawStickValue * (long) rawStickValue ) / 150L ); |
| } |
| /* Aktuellen Pitch-Wert berechnen. Der Wert ergibt sich aus dem Pitch-Offset |
| * zuzüglich dem Stick-Wert. Die folgenden Bedingungen erzeugen einen toten Bereich |
| * um die Mittelstellung herum, in dem sich targetPitchCount nicht ändert. So wird |
| * ein sanfterer Übergang vom höhengeregelten in den manuell gesteuerten Flug erreicht. |
| */ |
| if( stickValue > PARAM_PITCH_STICK_THRESHOLD ) |
| targetPitchCount = stickValue - PARAM_PITCH_STICK_THRESHOLD + pitchOffset; |
| else if( stickValue < -PARAM_PITCH_STICK_THRESHOLD ) |
| targetPitchCount = stickValue + PARAM_PITCH_STICK_THRESHOLD + pitchOffset; |
| else |
| targetPitchCount = pitchOffset; |
| switch( state ) { |
| /* Entscheidet über Flugbetrieb oder Setup-Betrieb. Für den Setup-Betrieb |
| * muß beim Einschalten der Motoren gleichzeitig der Roll-Stick ganz |
| * betätigt werden. Es gilt: |
| * |
| * Roll-Stick links: Einstellen des Gas-Stick-Deltas |
| * Roll-Stick rechts: Einstellen des Schwebegases |
| */ |
| case STATE_INITIALIZE: |
| if( PPM_in[ EE_Parameter.Kanalbelegung[ K_ROLL ] ] > 70 ) { |
| state = STATE_SETUP_HOVER; |
| // Signalisieren |
| beeptime = 500; |
| } else if( PPM_in[ EE_Parameter.Kanalbelegung[ K_ROLL ] ] < -70 ) { |
| state = STATE_SETUP_STICK_DELTA; |
| // Signalisieren |
| beeptime = 500; |
| } else { |
| state = STATE_RESTART; |
| } |
| break; |
| /* Erlaubt die Ermittlung des Parameters pitchHover. Hierzu wird soviel Gas |
| * gegeben, bis der MK kurz vor dem Abheben ist, jedoch noch stabil steht. Um den |
| * Gaswert dauerhaft zu speichern, muß der Stick an der Position verweilen, bis |
| * der Summer die Übernahme akustisch quittiert. Dann müssen die Motoren wieder |
| * ausgeschaltet werden, da dieser Modus nicht für den Flug vorgesehen ist. |
| */ |
| case STATE_SETUP_HOVER: |
| // Im Setup-Modus soll das Gas spontan reagieren |
| actualPitchCount = targetPitchCount; |
| if( rawStickValue < 10 || abs( stickValue - lastStickValue ) > 1 ) { |
| timer = PARAM_TIMER_1S; |
| } |
| /* Der Stick befindet sich eindeutig in der oberen Hälfte und wurde |
| * seit dem letzten Zyklus nicht bewegt. */ |
| else { |
| timer--; |
| /* Die Verweilzeit ist abgelaufen und der aktuelle Pitch-Wert |
| * entspricht nicht dem bereits gespeicherten Wert. */ |
| if( !timer && ( pitchHover != actualPitchCount ) ) { |
| // Aktuellen Pitch-Wert in Konfiguration übernehmen |
| pitchHover = actualPitchCount; |
| // Konfiguration dauerhaft speichern |
| eeprom_write_byte( &EEPromArray[ EEPROM_ADR_PITCH_MD_HOVER ], pitchHover ); |
| // Signalisieren |
| beeptime = 500; |
| } |
| } |
| break; |
| /* Der Stick-Deltawert kann hier konfiguriert werden. Ein Betätigen des Roll-Sticks nach links |
| * erhöht den Deltawert um 1, ein Betätigen nach rechts veringert den Wert um 1. Der eingestellte |
| * Wert kann mit dem Gas-Stick getestet werden, indem dieser in den oberen Bereich bewegt und dann |
| * losgelassen wird. Ertönt dabei ein Signal, wurde die Bewegung erkannt. Es ist dann der richtige |
| * Wert gefunden, wenn das Signal beim Loslassen des Gas-Sticks ertönt, beim gesteuerten Bewegen nach |
| * unten jedoch nicht. Durch Ausschalten der Motoren (diese laufen während der Konfiguration nicht |
| * wirklich) wird der Konfigurationsmodus beendet. |
| */ |
| case STATE_SETUP_STICK_DELTA: |
| if( stickValue < PARAM_PITCH_STICK_THRESHOLD && |
| abs( PPM_in[ EE_Parameter.Kanalbelegung[ K_ROLL ] ] ) < PARAM_PITCH_STICK_THRESHOLD ) { |
| state = STATE_SETUP_STICK_DELTA1; |
| } |
| // Im Setup immer mit Leerlaufgas |
| targetPitchCount = 0; |
| break; |
| case STATE_SETUP_STICK_DELTA1: |
| // Roll-Stick nach links erhöht den Deltawert |
| if( PPM_in[ EE_Parameter.Kanalbelegung[ K_ROLL ] ] < -20 ) { |
| if( pitchNeutralDiff < 20 ) { |
| pitchNeutralDiff++; |
| // Konfiguration dauerhaft speichern |
| eeprom_write_byte( &EEPromArray[ EEPROM_ADR_PITCH_NEUTRAL_DIFF ], pitchNeutralDiff ); |
| // Signalisieren |
| beeptime = 500; |
| state = STATE_SETUP_STICK_DELTA; |
| } |
| } |
| // Roll-Stick nach rechts verringert den Deltawert |
| if( PPM_in[ EE_Parameter.Kanalbelegung[ K_ROLL ] ] > 20 ) { |
| if( pitchNeutralDiff > 0 ) { |
| pitchNeutralDiff--; |
| // Konfiguration dauerhaft speichern |
| eeprom_write_byte( &EEPromArray[ EEPROM_ADR_PITCH_NEUTRAL_DIFF ], pitchNeutralDiff ); |
| // Signalisieren |
| beeptime = 500; |
| state = STATE_SETUP_STICK_DELTA; |
| } |
| } |
| if( ( lastStickValue > PARAM_PITCH_STICK_THRESHOLD ) && |
| ( lastStickValue - stickValue >= pitchNeutralDiff ) ) { |
| state = STATE_SETUP_STICK_DELTA; |
| // Signalisieren |
| beeptime = 500; |
| } |
| // Im Setup immer mit Leerlaufgas |
| targetPitchCount = 0; |
| break; |
| /* In diesem Zustand steht der MK am Boden und die Motoren laufen auf Leerlaufgas. Ein |
| * kurzes Auslenken des Sticks nach oben schaltet in das Standgas über. |
| */ |
| case STATE_BEGIN: |
| // Stick ist oberhalb der Neutralstellung |
| if( rawStickValue > PARAM_PITCH_STICK_THRESHOLD ) { |
| pitchOffset = pitchStand; |
| // Vollausschlag bedeutet: Einleitung der Autostartsequenz |
| if( rawStickValue > 80 ) { |
| state = STATE_AUTOSTART0; |
| // Signalisieren |
| beeptime = 500; |
| } |
| /* In diesem Zustand darf Standgas nicht überschritten werden, damit |
| * der MK nicht aus diesem Status heraus abhebt. |
| */ |
| if( targetPitchCount > pitchStand ) { |
| targetPitchCount = pitchStand; |
| } |
| // Erst im Status weitergehen, wenn Stick nicht mehr oberhalb der Neutralstellung |
| } else if( pitchOffset == pitchStand ) { |
| state = STATE_BEGIN1; |
| } |
| break; |
| // MK soll erst abheben, weil sonst die Höhenregelung am Boden schon greift |
| case STATE_BEGIN1: |
| // Jetzt kann abgehoben werden |
| if( rawStickValue > PARAM_PITCH_STICK_THRESHOLD ) { |
| // Begrenzung der Pitch-Beschleunigung nach dem Start |
| delay = PARAM_PITCH_MD_DELAY1; |
| state = STATE_READY0; |
| // Knüppel unterhalb der Neutralstellung bewirkt einen sofortigen Neustart |
| } else if( rawStickValue < -PARAM_PITCH_STICK_THRESHOLD ) { |
| state = STATE_RESTART; |
| } |
| break; |
| /* Automatischer Start: Warten, bis Standgas erreicht ist, dann auf Schwebegas gehen und |
| * die Sollhöhe setzen. |
| */ |
| case STATE_AUTOSTART0: |
| // Standgas darf in diesem Zustand nicht überschritten werden |
| if( targetPitchCount > pitchStand ) { |
| targetPitchCount = pitchStand; |
| } |
| if( rawStickValue < PARAM_PITCH_STICK_THRESHOLD ) { |
| // Knüppel unterhalb der Neutralstellung bewirkt einen sofortigen Neustart |
| if( rawStickValue < -PARAM_PITCH_STICK_THRESHOLD ) { |
| state = STATE_RESTART; |
| } |
| // Standgas muß erreicht sein, bevor die Startsequenz weiterläuft |
| if( targetPitchCount >= pitchStand ) { |
| // Jetzt auf Schwebegas übergehen (etwas mehr als eingestellt) |
| pitchOffset = pitchHover; |
| delay = PARAM_PITCH_MD_DELAY_AUTOSTART; |
| // Einstellen der zu erreichenden Flughöhe über Grund |
| altcon_lock(); |
| altcon_inc( PARAM_PITCH_AUTOSTART_ALT ); |
| altcon_start(); |
| state = STATE_AUTOSTART1; |
| } |
| } |
| // Begrenzung der Pitch-Beschleunigung beim Autostart |
| delay = PARAM_PITCH_MD_DELAY_AUTOSTART; |
| break; |
| /* Wenn das Schwebegas erreicht wurde, kann davon ausgegangen werden, daß der MK |
| * nicht mehr am Boden steht. |
| */ |
| case STATE_AUTOSTART1: |
| if( targetPitchCount >= pitchHover ) { |
| delay = PARAM_PITCH_MD_DELAY2; |
| state = STATE_ACTIVATING; |
| // Signalisieren |
| beeptime = 500; |
| } |
| // Eine Bewegung des Gasknüppels bricht die Autostartsequenz ab |
| if( abs( rawStickValue ) > PARAM_PITCH_STICK_THRESHOLD ) { |
| // Höhenregler deaktivieren |
| altcon_stop(); |
| pitchOffset -= altcon_avgerror() / 4; |
| targetPitchCount = pitchOffset; |
| state = STATE_READY; |
| } |
| break; |
| /* Die Motoren laufen jetzt mindestens mit Standgas. Der MK ist bereit zum Abheben. |
| */ |
| case STATE_READY0: |
| /* Wenn der Gashebel ganz unten steht, Timer für Restart der Pitch-Regelung |
| * starten. Hierfür wird die Variable pitchNeutralTimer verwendet. */ |
| if( PPM_in[ EE_Parameter.Kanalbelegung[ K_GAS ] ] > 35 - 120 ) { |
| timer = PITCH_MIN2_TIMER; |
| } else { |
| timer--; |
| /* Gashebel steht seit PITCH_MIN2_TIMER ganz unten; jetzt erfolgt die Initialisierung. */ |
| if( !timer ) { |
| state = STATE_RESTART; |
| } |
| } |
| /* Übergang in den höhengeregelten Flug durch: |
| * 1. Schnelles Bewegen des Sticks in Richtung Mittelstellung |
| * oder |
| * 2. langsames Bewegen des Sticks in Mittelstellung */ |
| if( ( ( lastStickValue > PARAM_PITCH_STICK_THRESHOLD ) && |
| ( lastStickValue - stickValue >= pitchNeutralDiff ) ) || |
| ( ( lastStickValue < PARAM_PITCH_STICK_THRESHOLD ) && |
| PARAM_PITCH_SOFT_ACTIVATING ) ) { |
| // Aktuelle Höhe festhalten (aktiviert noch nicht den Regler) |
| altcon_lock(); |
| // Höhe vorübergehend merken und beibehalten |
| peakPitchCount = lastStickValue; |
| state = STATE_READY1; |
| timer = PITCH_NEUTRAL_TIMER; |
| delay = PARAM_PITCH_MD_DELAY2; |
| } |
| break; |
| case STATE_READY: |
| /* Wenn der Gashebel ganz unten steht, Timer für Restart der Pitch-Regelung |
| * starten. Hierfür wird die Variable pitchNeutralTimer verwendet. */ |
| if( PPM_in[ EE_Parameter.Kanalbelegung[ K_GAS ] ] > 35 - 120 ) { |
| timer = PITCH_MIN2_TIMER; |
| } else { |
| timer--; |
| /* Gashebel steht seit PITCH_MIN2_TIMER ganz unten; jetzt erfolgt die Initialisierung. */ |
| if( !timer ) { |
| state = STATE_RESTART; |
| } |
| } |
| // Stick ist innerhalb der Neutralstellung |
| if( abs( rawStickValue ) < PARAM_PITCH_STICK_THRESHOLD ) { |
| // Aktuelle Höhe festhalten (aktiviert noch nicht den Regler) |
| altcon_lock(); |
| // Timer neu setzen |
| timer = PITCH_NEUTRAL_TIMER; |
| state = STATE_WAIT; |
| } |
| break; |
| /* Hier wird die Zeit gemessen, in der der Stick nach dem Loslassen |
| * bis zur Neutralstellung benötigt. Bei Überschreiten der Zeit |
| * wird die Höhenregelung nicht aktiviert. |
| */ |
| case STATE_READY1: |
| // Gas wird konstant gehalten |
| targetPitchCount = peakPitchCount + pitchOffset; |
| timer--; |
| /* Läuft der Timer ab, bevor der Stick die Neutralstellung erreicht, |
| * wird die Aktion nicht als "schnelles Bewegen in Neutralstellung" |
| * gedeutet. */ |
| if( !timer ) { |
| state = STATE_READY0; |
| } |
| // Ist die Neutralstellung erreicht? |
| if( rawStickValue < PARAM_PITCH_STICK_THRESHOLD ) { |
| pitchOffset = targetPitchCount; |
| // Aktivierung des Höhenreglers mit der zuvor gemerkten Sollhöhe |
| altcon_start(); |
| // Signalisieren |
| beeptime = 500; |
| state = STATE_ACTIVE; |
| } |
| break; |
| /* Der Stick ist in den für die Neutralstellung gültigen Wertebereich |
| * gelangt. Nun darf innerhalb einer bestimmten Zeit keine Stick-Bewegung |
| * erfolgen, um die automatische Höhenregelung zu aktivieren. */ |
| case STATE_WAIT: |
| /* Stick ist innerhalb der Neutralstellung und |
| Stick-Differenzial ist < 2 */ |
| if( abs( rawStickValue ) < PARAM_PITCH_STICK_THRESHOLD && |
| abs( stickValue - lastStickValue ) < 2 ) { |
| timer--; |
| if( !timer ) { |
| state = STATE_ACTIVATING; |
| } |
| // Aktivierungskriterium nicht erfüllt, zurück in INACTIVE |
| } else { |
| state = STATE_READY; |
| } |
| break; |
| /* Die automatische Höhenregelung wird jetzt aktiviert. |
| */ |
| case STATE_ACTIVATING: |
| /* Nach Aktivierung der Höhenregelung soll sich der Gaswert nicht mehr |
| * ändern. */ |
| actualPitchCount = targetPitchCount; |
| pitchOffset = targetPitchCount; |
| // Aktivierung des Höhenreglers mit der zuvor gemerkten Sollhöhe |
| altcon_start(); |
| // Einschalten der Höhenregelung signalisieren |
| beeptime = 500; |
| state = STATE_ACTIVE; |
| break; |
| /* Die automatische Höhenregelung ist aktiv. */ |
| case STATE_ACTIVE: |
| targetPitchCount = pitchOffset; |
| // Stick ist außerhalb der Neutralstellung |
| if( abs( rawStickValue ) > PARAM_PITCH_STICK_THRESHOLD ) { |
| // Höhenregler deaktivieren |
| altcon_stop(); |
| // Ausschalten der Höhenregelung signalisieren |
| beeptime = 500; |
| pitchOffset -= altcon_avgerror() / 4; |
| targetPitchCount = pitchOffset; |
| state = STATE_READY; |
| } |
| break; |
| /* Neustart nach dem Flug oder vor Start. */ |
| case STATE_RESTART: |
| // Begrenzung der Pitch-Beschleunigung am Boden |
| delay = PARAM_PITCH_MD_DELAY0; |
| pitchOffset = 0; |
| targetPitchCount = 0; |
| // Folgezustand |
| state = STATE_BEGIN; |
| break; |
| } |
| // Motoren sind aus |
| } else { |
| /* Nach dem Einschalten der Motoren wird pitchOffset auf PARAM_PITCH_OVER gesetzt. |
| */ |
| actualPitchCount = 0; |
| targetPitchCount = 0; |
| pitchOffset = 0; |
| stickValue = 0; |
| state = STATE_INITIALIZE; |
| } |
| /* Durch die Sollwertvorgabe kann hier eine einstellbare Trägheit auf dem Pitch-Wert |
| * abgebildet werden. */ |
| int pitchDelta = targetPitchCount - actualPitchCount; |
| if( pitchDelta > delay ) |
| pitchDelta = delay; |
| if( pitchDelta < -delay ) |
| pitchDelta = -delay; |
| if( !delayCounter ) { |
| actualPitchCount += pitchDelta; |
| delayCounter = 5; |
| } |
| delayCounter--; |
| if( actualPitchCount < 0 ) |
| actualPitchCount = 0; |
| // Vorigen Stick-Wert merken |
| lastStickValue = stickValue; |
| DebugOut.Analog[25] = pitchOffset; |
| DebugOut.Analog[26] = stickValue; |
| return actualPitchCount; |
| } |
| /branches/thjac/V1_13/pitch_md.h |
|---|
| 0,0 → 1,20 |
| /* pitch_md.h |
| * |
| * Copyright 2009 Thoams Jachmann |
| */ |
| #ifndef PITCH_MD_H |
| #define PITCH_MD_H |
| #define pitch_standValue() pitchStand |
| #define pitch_hoverValue() pitchHover |
| #define pitch_neutralDiffMD() pitchNeutralDiff |
| extern void pitch_md_init( void ); |
| extern int pitch_md_value( void ); |
| extern char pitchStand; |
| extern char pitchHover; |
| extern char pitchNeutralDiff; |
| #endif // PITCH_MD_H |
| /branches/thjac/V1_13/printf_P.c |
|---|
| 0,0 → 1,480 |
| // 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. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/thjac/V1_13/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/thjac/V1_13/rc.c |
|---|
| 0,0 → 1,122 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[11]; |
| volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // TCCR1B=(1<<CS11)|(0<<CS10)|(1<<ICES1)|(1<<ICNC1); //timer1 prescale 64 |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if((signal > 1100) && (signal < 8000)) |
| { |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| 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(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 |
| } |
| } |
| } |
| /* |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| DebugOut.Analog[16] = signal; |
| 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 < 10) |
| { |
| 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++; |
| if(index == 5) J3High; else J3Low; // Servosignal an J3 anlegen |
| if(index == 2) J4High; else J4Low; // Servosignal an J4 anlegen |
| if(index == 7) J5High; else J5Low; // Servosignal an J5 anlegen |
| } |
| } |
| } |
| */ |
| /branches/thjac/V1_13/rc.h |
|---|
| 0,0 → 1,30 |
| /*####################################################################################### |
| 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[11]; |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/thjac/V1_13/spi.c |
|---|
| 0,0 → 1,281 |
| // ######################## SPI - FlightCtrl ################### |
| #include "main.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 SPI_VersionInfo; |
| unsigned char SPI_BufferIndex; |
| unsigned char SPI_RxBufferIndex; |
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *SPI_TX_Buffer; |
| unsigned char SPITransferCompleted, SPI_ChkSum; |
| unsigned char SPI_RxDataValid,NaviDataOkay = 0; |
| unsigned char SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
| unsigned char SPI_CommandCounter = 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_CMD_USER; |
| ToNaviCtrl.IntegralNick = 0; |
| ToNaviCtrl.IntegralRoll = 0; |
| FromNaviCtrl_Value.SerialDataOkay = 0; |
| SPI_RxDataValid = 0; |
| SPI_VersionInfo.Major = VERSION_MAJOR; |
| SPI_VersionInfo.Minor = VERSION_MINOR; |
| SPI_VersionInfo.Patch = VERSION_PATCH; |
| SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
| } |
| //------------------------------------------------------ |
| 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; |
| //DebugOut.Analog[17]++; |
| rxchksum = rxdata; |
| if (rxdata == 0x81 ) { SPI_RXState = 1; } // 1. Syncbyte ok |
| break; |
| case 1: |
| if (rxdata == 0x55) { rxchksum += rxdata; SPI_RXState = 2; } // 2. Syncbyte ok |
| else SPI_RXState = 0; |
| //DebugOut.Analog[18]++; |
| break; |
| case 2: |
| SPI_Buffer[SPI_RxBufferIndex++]= rxdata; // get data |
| //DebugOut.Analog[19]++; |
| if (SPI_RxBufferIndex >= sizeof(FromNaviCtrl)) |
| { |
| if (rxdata == rxchksum) |
| { |
| unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| SPI_RxDataValid = 1; |
| } |
| else SPI_RxDataValid = 0; |
| SPI_RXState = 0; |
| } |
| else rxchksum += rxdata; |
| break; |
| } |
| if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| { |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| SPDR = SPI_TX_Buffer[SPI_BufferIndex]; |
| ToNaviCtrl.Chksum += SPI_TX_Buffer[SPI_BufferIndex]; |
| // SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| } |
| else SPITransferCompleted = 1; |
| SPI_BufferIndex++; |
| } |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| { |
| signed int tmp; |
| cli(); |
| 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.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_CMD_USER: |
| ToNaviCtrl.Param.Byte[0] = Parameter_UserParam1; |
| ToNaviCtrl.Param.Byte[1] = Parameter_UserParam2; |
| ToNaviCtrl.Param.Byte[2] = Parameter_UserParam3; |
| ToNaviCtrl.Param.Byte[3] = Parameter_UserParam4; |
| ToNaviCtrl.Param.Byte[4] = Parameter_UserParam5; |
| ToNaviCtrl.Param.Byte[5] = Parameter_UserParam6; |
| ToNaviCtrl.Param.Byte[6] = Parameter_UserParam7; |
| ToNaviCtrl.Param.Byte[7] = Parameter_UserParam8; |
| ToNaviCtrl.Param.Byte[8] = (unsigned char) MikroKopterFlags; |
| MikroKopterFlags &= ~(FLAG_CALIBRATE | FLAG_START); |
| ToNaviCtrl.Param.Byte[9] = (unsigned char) UBat; |
| ToNaviCtrl.Param.Byte[10] =(unsigned char) EE_Parameter.UnterspannungsWarnung; |
| ToNaviCtrl.Param.Byte[11] =(unsigned char) eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
| break; |
| case SPI_CMD_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_CMD_STICK: |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[0] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[1] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[2] = (char) tmp; |
| tmp = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| ToNaviCtrl.Param.Byte[3] = (char) tmp; |
| ToNaviCtrl.Param.Byte[4] = (unsigned char) Poti1; |
| ToNaviCtrl.Param.Byte[5] = (unsigned char) Poti2; |
| ToNaviCtrl.Param.Byte[6] = (unsigned char) Poti3; |
| ToNaviCtrl.Param.Byte[7] = (unsigned char) Poti4; |
| ToNaviCtrl.Param.Byte[8] = (unsigned char) SenderOkay; |
| break; |
| case SPI_CMD_MISC: |
| if(WinkelOut.CalcState > 5) |
| { |
| WinkelOut.CalcState = 0; |
| ToNaviCtrl.Param.Byte[0] = 5; |
| } |
| else ToNaviCtrl.Param.Byte[0] = WinkelOut.CalcState; |
| ToNaviCtrl.Param.Int[1] = HoehenWert; |
| ToNaviCtrl.Param.Byte[1] = EE_Parameter.NaviPH_LoginTime; |
| ToNaviCtrl.Param.Byte[4] = EE_Parameter.NaviGpsPLimit; |
| ToNaviCtrl.Param.Byte[5] = EE_Parameter.NaviGpsILimit; |
| ToNaviCtrl.Param.Byte[6] = EE_Parameter.NaviGpsDLimit; |
| break; |
| case SPI_CMD_VERSION: |
| ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
| ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
| ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
| ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
| ToNaviCtrl.Param.Byte[4] = PlatinenVersion; |
| break; |
| } |
| sei(); |
| if(SPI_RxDataValid) |
| { |
| if(abs(FromNaviCtrl.GPS_Nick) < 512 && abs(FromNaviCtrl.GPS_Roll) < 512 && (EE_Parameter.GlobalConfig & CFG_GPS_AKTIV)) |
| { |
| GPS_Nick = FromNaviCtrl.GPS_Nick; |
| GPS_Roll = FromNaviCtrl.GPS_Roll; |
| NaviDataOkay = 250; |
| } |
| 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_KALMAN: |
| FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0]; |
| FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1]; |
| FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2]; |
| FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
| break; |
| default: |
| break; |
| } |
| } |
| else |
| { |
| // KompassValue = 0; |
| // KompassRichtung = 0; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| } |
| #endif |
| /branches/thjac/V1_13/spi.h |
|---|
| 0,0 → 1,140 |
| // ######################## SPI - FlightCtrl ################### |
| #ifndef _SPI_H |
| #define _SPI_H |
| #include <util/delay.h> |
| #define USE_SPI_COMMUNICATION |
| #define SPI_PROTOCOL_COMP 1 |
| //----------------------------------------- |
| #define DDR_SPI DDRB |
| #define DD_SS PB4 |
| #define DD_SCK PB7 |
| #define DD_MOSI PB5 |
| #define DD_MISO PB6 |
| // for compatibility reasons gcc3.x <-> gcc4.x |
| #ifndef SPCR |
| #define SPCR SPCR0 |
| #endif |
| #ifndef SPE |
| #define SPE SPE0 |
| #endif |
| #ifndef MSTR |
| #define MSTR MSTR0 |
| #endif |
| #ifndef SPR1 |
| #define SPR1 SPR01 |
| #endif |
| #ifndef SPR0 |
| #define SPR0 SPR00 |
| #endif |
| #ifndef SPIE |
| #define SPIE SPIE0 |
| #endif |
| #ifndef SPDR |
| #define SPDR SPDR0 |
| #endif |
| #ifndef SPIF |
| #define SPIF SPIF0 |
| #endif |
| #ifndef SPSR |
| #define SPSR SPSR0 |
| #endif |
| // ------------------------- |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| #define SLAVE_SELECT_PORT PORTC |
| #define SPI_SLAVE_SELECT PC5 |
| #define SPI_CMD_USER 10 |
| #define SPI_CMD_STICK 11 |
| #define SPI_CMD_MISC 12 |
| #define SPI_CMD_PARAMETER1 13 |
| #define SPI_CMD_VERSION 14 |
| struct str_ToNaviCtrl |
| { |
| unsigned char Sync1, Sync2; |
| unsigned char Command; |
| signed int IntegralNick; |
| signed int IntegralRoll; |
| signed int AccNick; |
| signed int AccRoll; |
| signed int GyroCompass; |
| signed int GyroNick; |
| signed int GyroRoll; |
| signed int GyroGier; |
| union |
| { char Byte[12]; |
| int Int[6]; |
| long Long[3]; |
| float Float[3]; |
| } Param; |
| unsigned char Chksum; |
| }; |
| #define SPI_KALMAN 103 |
| 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 |
| { char Byte[12]; |
| int Int[6]; |
| long Long[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; |
| }; |
| struct str_SPI_VersionInfo |
| { |
| unsigned char Major; |
| unsigned char Minor; |
| unsigned char Patch; |
| unsigned char Compatible; |
| }; |
| #ifdef USE_SPI_COMMUNICATION |
| extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
| extern struct str_ToNaviCtrl ToNaviCtrl; |
| extern struct str_FromNaviCtrl FromNaviCtrl; |
| extern unsigned char SPI_CommandCounter,NaviDataOkay; |
| //#define SPI_CMD_VALUE 0x03 |
| extern void SPI_MasterInit(void); |
| extern void SPI_StartTransmitPacket(void); |
| extern void UpdateSPI_Buffer(void); |
| extern void SPI_TransmitByte(void); |
| #else |
| // -------------------------------- Dummy ----------------------------------------- |
| #define SPI_MasterInit() ; |
| #define SPI_StartTransmitPacket() ; |
| #define UpdateSPI_Buffer() ; |
| #define SPI_TransmitByte() ; |
| #endif |
| #endif |
| /branches/thjac/V1_13/timer0.c |
|---|
| 0,0 → 1,448 |
| #include "main.h" |
| #include "parameter.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; |
| int ServoValue = 0; |
| 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 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(SendSPI) SendSPI--; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| 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(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 362)) |
| { |
| cntKompass += cntKompass / 41; |
| if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| } |
| // ----------------------------------------------------------------------- |
| 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(); |
| // set PD7 as output of the PWM for nick servo |
| DDRD |= (1<<DDD7); |
| 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 = 120; |
| 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 |
| // Min und Max vorverlegt, damit sich diese auf ServoNickControl beziehen und ggf. noch Nick-kompensiert werden |
| if (ServoValue < ((int) EE_Parameter.ServoNickMin * MULTIPLYER)) |
| ServoValue = (int) EE_Parameter.ServoNickMin * MULTIPLYER; |
| else if (ServoValue > ((int) EE_Parameter.ServoNickMax * MULTIPLYER)) |
| ServoValue = (int) EE_Parameter.ServoNickMax * MULTIPLYER; |
| long integral; |
| /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
| * umschalten (sh. parameter.h) |
| */ |
| if (PARAM_X_FORMATION) { |
| integral = IntegralNick - IntegralRoll; |
| } else { |
| integral = IntegralNick; |
| } |
| ServoNickOffset = (ServoNickOffset * 3 + (int16_t)Parameter_ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
| ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoNickCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (integral / 128L ) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo |
| ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (integral / 128L ) ) / (256L) ); |
| } |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| ServoNickValue /= MULTIPLYER; |
| DebugOut.Analog[20] = ServoNickValue; |
| // 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 |
| { |
| long integral; |
| 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) |
| /* Über Parameter läßt sich zwischen "+" und "X" - Formations |
| * umschalten (sh. parameter.h) |
| */ |
| if (PARAM_X_FORMATION) |
| integral = IntegralNick - IntegralRoll; |
| else |
| integral = IntegralNick; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoNickValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (integral / 128L ) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo |
| ServoNickValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (integral / 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; |
| DebugOut.Analog[20] = ServoNickValue; |
| break; |
| case 2: // Roll Compensation Servo |
| ServoRollOffset = (ServoRollOffset * 3 + (int16_t) 80 * MULTIPLYER) / 4; // lowpass offset |
| ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
| //if(EE_Parameter.ServoRollCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
| } |
| /* else |
| { // non inverting movement of servo |
| ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLYER * (IntegralRoll / 128L ) ) / (256L) ); |
| } |
| */ // limit servo value to its parameter range definition |
| if(ServoRollValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
| { |
| ServoRollValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
| } |
| else |
| if(ServoRollValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER) ) |
| { |
| ServoRollValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
| } |
| RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| ServoRollValue /= MULTIPLYER; |
| //DebugOut.Analog[20] = ServoRollValue; |
| /* ServoRollOffset = (ServoRollOffset * 3 + (int16_t)Parameter_ServoRollControl * MULTIPLYER) / 4; // lowpass offset |
| ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoRollCompInvert & 0x01) |
| { // inverting movement of servo |
| ServoRollValue += (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 128L ) ) / (256L) ); |
| } |
| else |
| { // non inverting movement of servo |
| ServoRollValue -= (int16_t)( ( (int32_t)EE_Parameter.ServoNickComp * MULTIPLYER * (IntegralNick / 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; |
| 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) HEF4017R_OFF; // disable HEF4017 reset |
| 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/thjac/V1_13/timer0.h |
|---|
| 0,0 → 1,20 |
| #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 int ServoValue; |
| extern unsigned int BeepMuster; |
| extern volatile unsigned char SendSPI, ServoActive; |
| /branches/thjac/V1_13/twimaster.c |
|---|
| 0,0 → 1,216 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| volatile unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0,MissingMotor = 0; |
| unsigned char motor_rx[16],motor_rx2[16]; |
| unsigned char MotorPresent[MAX_MOTORS]; |
| unsigned char MotorError[MAX_MOTORS]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| } |
| //############################################################################ |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| void i2c_reset(void) |
| //############################################################################ |
| { |
| i2c_stop(); |
| twi_state = 0; |
| motor = TWDR; |
| motor = 0; |
| TWCR = 0x80; |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| i2c_init(); |
| i2c_start(); |
| i2c_write_byte(0); |
| } |
| //############################################################################ |
| void i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| /****************************************/ |
| /* Write to I2C */ |
| /****************************************/ |
| void I2C_WriteByte(int8_t byte) |
| { |
| // move byte to send into TWI Data Register |
| TWDR = byte; |
| // clear interrupt flag (TWINT = 1) |
| // enable i2c bus (TWEN = 1) |
| // enable interrupt (TWIE = 1) |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| /****************************************/ |
| /* Receive byte and send ACK */ |
| /****************************************/ |
| void I2C_ReceiveByte(void) |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| } |
| /****************************************/ |
| /* I2C receive last byte and send no ACK*/ |
| /****************************************/ |
| void I2C_ReceiveLastByte(void) |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| //############################################################################ |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| static unsigned char missing_motor; |
| switch(twi_state++) |
| { |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Writing the Data |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| case 0: |
| while(Mixer.Motor[motor][0] <= 0 && motor < MAX_MOTORS) motor++; // skip if not used |
| if(motor == MAX_MOTORS) // writing finished -> now read |
| { |
| motor = 0; |
| twi_state = 3; |
| i2c_write_byte(0x53+(motorread*2)); |
| } |
| else i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| i2c_write_byte(Motor[motor++]); |
| break; |
| case 2: |
| if(TWSR == 0x30) { if(!missing_motor) missing_motor = motor; if(++MotorError[motor-1] == 0) MotorError[motor-1] = 255;} |
| i2c_stop(); |
| I2CTimeout = 10; |
| twi_state = 0; |
| i2c_start(); |
| break; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Reading Data |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| case 3: |
| //Transmit 1st byte for reading |
| if(TWSR != 0x40) // Error? |
| { |
| MotorPresent[motorread] = 0; |
| motorread++; |
| if(motorread >= MAX_MOTORS) motorread = 0; |
| i2c_stop(); |
| twi_state = 0; |
| } |
| else |
| { |
| MotorPresent[motorread] = ('1' - '-') + motorread; |
| I2C_ReceiveByte(); |
| } |
| MissingMotor = missing_motor; |
| missing_motor = 0; |
| break; |
| case 4: //Read 1st byte and transmit 2nd Byte |
| motor_rx[motorread] = TWDR; |
| I2C_ReceiveLastByte(); //nack |
| break; |
| case 5: |
| //Read 2nd byte |
| motor_rx2[motorread++] = TWDR; |
| if(motorread >= MAX_MOTORS) motorread = 0; |
| i2c_stop(); |
| twi_state = 0; |
| break; |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // writing Gyro-Offset |
| //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| case 8: |
| i2c_write_byte(0x98); // Address of the DAC |
| break; |
| case 9: |
| i2c_write_byte(0x10); // Update Channel A |
| break; |
| case 10: |
| i2c_write_byte(AnalogOffsetNick); // Value |
| break; |
| case 11: |
| i2c_write_byte(0x80); // Value |
| break; |
| case 12: |
| i2c_stop(); |
| I2CTimeout = 10; |
| i2c_start(); |
| break; |
| case 13: |
| i2c_write_byte(0x98); // Address of the DAC |
| break; |
| case 14: |
| i2c_write_byte(0x12); // Update Channel B |
| break; |
| case 15: |
| i2c_write_byte(AnalogOffsetRoll); // Value |
| break; |
| case 16: |
| i2c_write_byte(0x80); // Value |
| break; |
| case 17: |
| i2c_stop(); |
| I2CTimeout = 10; |
| i2c_start(); |
| break; |
| case 18: |
| i2c_write_byte(0x98); // Address of the DAC |
| break; |
| case 19: |
| i2c_write_byte(0x14); // Update Channel C |
| break; |
| case 20: |
| i2c_write_byte(AnalogOffsetGier); // Value |
| break; |
| case 21: |
| i2c_write_byte(0x80); // Value |
| break; |
| case 22: |
| i2c_stop(); |
| I2CTimeout = 10; |
| twi_state = 0; |
| break; |
| default: twi_state = 0; |
| break; |
| } |
| TWCR |= 0x80; |
| } |
| /branches/thjac/V1_13/twimaster.h |
|---|
| 0,0 → 1,35 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern volatile unsigned char twi_state; |
| extern unsigned char motor,MissingMotor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[]; |
| extern unsigned char MotorPresent[]; |
| extern unsigned char MotorError[]; |
| void i2c_reset(void); |
| extern void i2c_init (void); // I2C initialisieren |
| extern void i2c_start (void); // Start I2C |
| extern void i2c_stop (void); // Stop I2C |
| extern void i2c_write_byte (char byte); // 1 Byte schreiben |
| extern void i2c_reset(void); |
| #endif |
| /branches/thjac/V1_13/uart.c |
|---|
| 0,0 → 1,565 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdarg.h> |
| #include <string.h> |
| #include "main.h" |
| #include "uart.h" |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| 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 SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned 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 Debug_Timer,Kompass_Timer,Timer3D; |
| unsigned int DebugDataIntervall = 200, Intervall3D = 0; |
| const unsigned char ANALOG_TEXT[32][16] = |
| { |
| //1234567890123456 |
| "AngleNick ", //0 |
| "AngleRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "GyroGier ", |
| "Hight Value ", //5 |
| "AccZ ", |
| "Gas ", |
| "Compass Value ", |
| "Voltage ", |
| "Empfang ", //10 |
| "Gyro Kompass ", |
| "Motor Front ", |
| "Motor Rear ", |
| "Motor Left ", |
| "Motor Right ", //15 |
| " ", |
| " ", |
| " ", |
| "MK3Mag CalState ", |
| "Servo ", //20 |
| " ", |
| " ", |
| " ", |
| "SollHoehe ", |
| "PitchOffset ", //25 |
| "StickValue ", |
| "Kalman_MaxDrift ", |
| " ", |
| "Navi Serial Data", |
| "GPS_Nick ", //30 |
| "GPS_Roll " |
| }; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr + 1; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| 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; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| SendeBuffer[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; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[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)); |
| break; |
| case 'm':// "Write Mixer |
| while(!UebertragungAbgeschlossen); |
| if(pRxData[0] == MIXER_REVISION) |
| { |
| memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer)); |
| eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| tempchar1 = 1; |
| } |
| else tempchar1 = 0; |
| SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| break; |
| case 'p': // get PPM Channels |
| GetPPMChannelAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| if(pRxData[0] == 0xFF) |
| { |
| pRxData[0] = GetActiveParamSetNumber(); |
| } |
| // 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 |
| ReadParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| while(!UebertragungAbgeschlossen); |
| tempchar1 = pRxData[0]; |
| tempchar2 = EE_DATENREVISION; |
| SendOutData('Q', FC_ADDRESS, 3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| break; |
| case 's': // Parametersatz speichern |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EE_DATENREVISION)) // check for setting to be in range |
| { |
| memcpy((unsigned char *) &EE_Parameter.Kanalbelegung[0], (unsigned char *)&pRxData[2], STRUCT_PARAM_LAENGE); |
| WriteParameterSet(pRxData[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| SetActiveParamSetNumber(pRxData[0]); |
| tempchar1 = GetActiveParamSetNumber(); |
| init(); |
| Piep(tempchar1); |
| } |
| else |
| { |
| tempchar1 = 0; // mark in response an invlid setting |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| 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 > 20) 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; |
| 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; |
| break; |
| case 'd': // Poll the debug data |
| DebugDataIntervall = pRxData[0] * 10; |
| if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| PcZugriff = 255; |
| RemoteKeys |= pRxData[0]; |
| if(RemoteKeys) DisplayLine = 0; |
| 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; |
| } |
| break; // default: |
| } |
| NeuerDatensatzEmpfangen = 0; |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(DebugDataIntervall); |
| Kompass_Timer = SetDelay(220); |
| VersionInfo.SWMajor = 0; |
| VersionInfo.SWMinor = 74; |
| VersionInfo.SWPatch = 4; |
| VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
| pRxData = 0; |
| RxDataLen = 0; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
| DisplayLine++; |
| if(DisplayLine >= 4) DisplayLine = 0; |
| 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; |
| } |
| 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('w', 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) |
| { |
| 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); |
| SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| Timer3D = SetDelay(Intervall3D); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),(unsigned char *) ANALOG_TEXT[DebugTextAnforderung], 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; |
| } |
| } |
| /branches/thjac/V1_13/uart.h |
|---|
| 0,0 → 1,136 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned 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 int 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 Digital[2]; |
| signed int Analog[32]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_WinkelOut |
| { |
| signed int Winkel[2]; |
| unsigned char UserParameter[2]; |
| unsigned char CalcState; |
| unsigned char Orientation; |
| }; |
| extern struct str_WinkelOut WinkelOut; |
| struct str_Data3D |
| { |
| signed int Winkel[3]; // nick, roll, compass in 0,1° |
| signed char reserve[8]; |
| }; |
| 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 Reserved[5]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/thjac/V1_13/version.txt |
|---|
| 0,0 → 1,251 |
| ------- |
| 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 |
| Baseline V0.71h |
| V1_10a T. Jachmann |
| - Neutralstellung des Gasknüppels mit autom. Aktivierung der Höhenregelung in Neutralstellung |
| - Automatische Kalibrierung (Ermittlung der Neutralstellung) des Gas-Sticks beim Einschalten der FC |
| - Bleibt der Knüppel für ca. 0,5 in Neutralstellung, wird die autom. Höhenregelung aktiviert |
| - UserParam1 regelt die Empfindlichkeit der initialen 'Loslasserkennung' des Gasknüppels (Achtung: Wert mittels 'MK in der Hand' ermitteln!!!) |
| - Höhenbegrenzung entfernt und neue Höhenregelung implementiert |
| - MaxHoehe dient jetzt der Begrenzung des Fehlerwertes des Reglers |
| - Looping-Funktion entfernt |
| - Rotation des Nick/Roll-Sticks um 45°, um ohne Hardware-Anpassung in X-Formation zu fliegen |
| - Anpassung der Servo-Nick-Kompensation auf X-Formation |
| - Einschalten der LED-Ausgänge beim Starten der Motoren |
| - Einführung eines zweiten MinGas-Parameters für Leerlaufgas nach Einschalten der Motoren |
| V1_10b T. Jachmann |
| - MK wird bei eingeschalteten Motoren mit Stick rechts unten nicht kalibriert |
| - Die J16/J17-Frequenz kann bei Unterspannungswarnung erhöht werden |
| - Die Pegel von J16/J17 lassen sich invertieren |
| - Auch bei ausgeschalteten LED's können diese im Unterspannungsfall zwanghaft aktiviert werden |
| V1_10c K. Rheinwald |
| - User Parameter Defaults werden gem. Doku gesetzt |
| - Die Pegel von J16/J17 werden auch im 'Aus'-Zustand invertiert |
| - J16/J17 können getrennt voneinander invertiert werden |
| - Einfache PWM auf J16/17 (0,20,40,60,80,100%, getrennt voneinander einstellbar) |
| V1_10d K. Rheinwald |
| - PWM feiner abgestuft (0-100% in 10% Schritten, getrennt voneinander einstellbar) |
| - Timing von J16/17 von 10 auf 20ms verdoppelt -> Timings im MK-Tool müssen halbiert werden |
| - PWM funktioniert auch für Timing über PotiX |
| - Reihenfolge der User Parameters and Bitfields aufgeräumt - Settings checken! |
| - User Parameter Defaults werden bei Initialisierung auf 0 gesetzt |
| - Einige Warnings bereinigt |
| --- |
| V1_11a K. Rheinwald |
| - Poti-Offset auf +-125 korrigiert |
| - Einige Module gePrettyPrinted |
| - Gas Modus wird wirklich automatisch geprüft und nicht forciert. |
| - Merge with altcon.c added by T. Jachmann |
| - picth_XX ausgelagert |
| V1_11b T. Jachmann |
| - Neuer MD-ähnlicher Pitch-Modus |
| - Kalibrierungsfunktion für Standgas |
| - Standgas wird im EEProm abgespeichert |
| - Neue Display-Seite für Pitch-Steuerung |
| - Fehler in Höhenregelung korrigiert |
| - Integralanteil in Höhenregelung vorerst stillgelegt |
| V1_11c T. Jachmann |
| - Setup-Modus für Pitch-Steuerung "neutral" |
| - Parameter für "Loslasserkennung" der Pitch-Steuerung "neutral" liegt jetzt im EEProm (Setting-unabhängig) |
| - Erweiterung der Display-Seite für Pitch-Steuerung |
| - Sicherung des Pitch-Modus über die Einschalt-Gas-Stick-Position und die Höhenregelung im Setting |
| V1-12a T. Jachmann |
| - Mit Originalversion 0.74d integriert |
| V1_13a T. Jachmann |
| - Autostartfunktion eingebaut |
| - Weicherer Übergang vom höhengeregelten Flug auf manuelle Kontrolle |
| - Parameter überarbeitet |