Subversion Repositories NaviCtrl

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Ignore whitespace Rev 91 → Rev 92

/trunk/GPS.c
95,16 → 95,16
float D;
float A;
float ACC;
s32 P_Limit;
s32 I_Limit;
s32 D_Limit;
s32 PID_Limit;
u32 P_Limit;
u32 I_Limit;
u32 D_Limit;
u32 PID_Limit;
u32 BrakingDuration;
u8 MinSat;
s8 StickThreshold;
float WindCorrection;
float SpeedCompensation;
s32 OperatingRadius;
u32 OperatingRadius;
GPS_FlightMode_t FlightMode;
} __attribute__((packed)) GPS_Parameter_t;
 
114,7 → 114,7
s32 North; // in cm
s32 East; // in cm
s32 Bearing; // in deg
s32 Distance; // in cm
u32 Distance; // in cm
} __attribute__((packed)) GPS_Deviation_t;
GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target
GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home
127,6 → 127,7
GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position
GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position
GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position
u32 GPS_TargetRadius = 0; // catch radius for target area
Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint
 
//-------------------------------------------------------------
162,8 → 163,8
if(StopNavigation) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE;
else
{
if (Parameter.NaviGpsModeControl < 50) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID;
else if(Parameter.NaviGpsModeControl < 180) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE;
if (Parameter.NaviGpsModeControl < 50) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_FREE;
else if(Parameter.NaviGpsModeControl < 180) GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_AID;
else GPS_Parameter.FlightMode = GPS_FLIGHT_MODE_WAYPOINT;
}
GPS_Parameter.Gain = (float)Parameter.NaviGpsGain;
172,16 → 173,16
GPS_Parameter.D = (float)Parameter.NaviGpsD;
GPS_Parameter.A = (float)Parameter.NaviGpsD;
GPS_Parameter.ACC = (float)Parameter.NaviGpsACC;
GPS_Parameter.P_Limit = (s32)Parameter.NaviGpsPLimit;
GPS_Parameter.I_Limit = (s32)Parameter.NaviGpsILimit;
GPS_Parameter.D_Limit = (s32)Parameter.NaviGpsDLimit;
GPS_Parameter.PID_Limit = 2* (s32)Parameter.NaviAngleLimitation;
GPS_Parameter.P_Limit = (u32)Parameter.NaviGpsPLimit;
GPS_Parameter.I_Limit = (u32)Parameter.NaviGpsILimit;
GPS_Parameter.D_Limit = (u32)Parameter.NaviGpsDLimit;
GPS_Parameter.PID_Limit = 2* (u32)Parameter.NaviAngleLimitation;
GPS_Parameter.BrakingDuration = (u32)Parameter.NaviPH_LoginTime;
GPS_Parameter.SpeedCompensation = (float)Parameter.NaviSpeedCompensation;
GPS_Parameter.MinSat = (u8)Parameter.NaviGpsMinSat;
GPS_Parameter.StickThreshold = (s8)Parameter.NaviStickThreshold;
GPS_Parameter.WindCorrection = (float)Parameter.NaviWindCorrection;
GPS_Parameter.OperatingRadius = (s32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm
GPS_Parameter.OperatingRadius = (u32)Parameter.NaviOperatingRadius * 100; // conversion of m to cm
}
// FlightMode changed?
if(GPS_Parameter.FlightMode != FlightMode_Old) BeepTime = 100; // beep to indicate that mode has switched
277,10 → 278,10
 
//------------------------------------------------------------
// Rescale xy-vector length if length limit is violated
void GPS_LimitXY(s32 *x, s32 *y, s32 limit)
void GPS_LimitXY(s32 *x, s32 *y, u32 limit)
{
s32 dist;
dist = (s32)hypot(*x,*y); // the length of the vector
u32 dist;
dist = (u32)hypot(*x,*y); // the length of the vector
if (dist == 0)
{
*x = 0;
345,7 → 346,7
// If the position deviation is small enough to neglect the earth curvature
// (this is for our application always fulfilled) the distance to target
// can be calculated by the pythagoras of north and east deviation.
pDeviationFromTarget->Distance = (s32)(11119492.7f * hypot(temp1, temp2));
pDeviationFromTarget->Distance = (u32)(11119492.7f * hypot(temp1, temp2));
if (pDeviationFromTarget->Distance == 0L) pDeviationFromTarget->Bearing = 0L;
else pDeviationFromTarget->Bearing = DirectionToTarget_N_E(temp2, temp1);
pDeviationFromTarget->Status = NEWDATA;
371,8 → 372,7
static Waypoint_t* GPS_pWaypointOld = NULL;
 
static GPS_Pos_t RangedTargetPosition = {0,0,0, INVALID}; // the limited target position, this is derived from the target position with repect to the operating radius
static s32 OperatingRadiusOld = -1;
static u8 WPArrived = FALSE;
static u32 OperatingRadiusOld = -1;
static u32 WPTime = 0;
 
//++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
401,9 → 401,9
beep_rythm++;
 
// debug
DebugOut.Analog[21] = (u16)GPSData.Speed_North;
DebugOut.Analog[22] = (u16)GPSData.Speed_East;
DebugOut.Analog[31] = (u16)GPSData.NumOfSats;
DebugOut.Analog[21] = (s16)GPSData.Speed_North;
DebugOut.Analog[22] = (s16)GPSData.Speed_East;
DebugOut.Analog[31] = (s16)GPSData.NumOfSats;
 
// If GPS signal condition is sufficient for a reliable position measurement
if(GPS_IsSignalOK())
429,19 → 429,20
{
// the GPS control is deactived
case GPS_FLIGHT_MODE_FREE:
NaviData.NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH);
NaviData.NCFlags |= NC_FLAG_FREE;
NCFlags &= ~(NC_FLAG_PH | NC_FLAG_CH);
NCFlags |= NC_FLAG_FREE;
GPS_Parameter.PID_Limit = 0; // disables PID output
// update hold position
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition);
// no target position
GPS_pTargetPosition = NULL;
GPS_TargetRadius = 0;
break;
 
// the GPS supports the position hold, if the pilot takes no action
case GPS_FLIGHT_MODE_AID:
NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH);
NaviData.NCFlags |= NC_FLAG_PH;
NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_CH);
NCFlags |= NC_FLAG_PH;
// reset WPList to begin
GPS_pWaypoint = WPList_Begin();
 
450,10 → 451,12
GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition);
GPS_pTargetPosition = NULL;
GPS_TargetRadius = 0;
}
else
{
GPS_pTargetPosition = &GPS_HoldPosition;
GPS_TargetRadius = 100; // 1 meter
}
break;
 
460,8 → 463,8
// the GPS control is directed to a target position
// given by a waypoint or by the home position
case GPS_FLIGHT_MODE_WAYPOINT:
NaviData.NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH);
NaviData.NCFlags |= NC_FLAG_CH;
NCFlags &= ~(NC_FLAG_FREE | NC_FLAG_PH);
NCFlags |= NC_FLAG_CH;
 
if(GPS_IsManuallyControlled()) // the human pilot takes the action
{
468,6 → 471,7
GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition); // update hold position
GPS_pTargetPosition = NULL; // set target position invalid
GPS_TargetRadius = 0;
}
else // no manual control -> gps position hold active
{
477,7 → 481,6
if(GPS_pWaypoint->Position.Status == INVALID) // should never happen
{
GPS_pWaypoint = WPList_Next(); // goto to next WP
WPArrived = FALSE;
BeepTime = 255;
}
else // waypoint position is valid
486,28 → 489,20
if((GPS_pWaypoint != GPS_pWaypointOld) || (GPS_pWaypoint->Position.Status == NEWDATA))
{
GPS_pWaypointOld = GPS_pWaypoint;
// reset the arrived bit to break a pending HoldTime of the old WP
WPArrived = FALSE;
}
 
if(CurrentTargetDeviation.Status != INVALID)
{ // if the waypoint was not catched and the target area has been reached
if(!WPArrived && (CurrentTargetDeviation.Distance < (GPS_pWaypoint->ToleranceRadius * 100)))
{
WPArrived = TRUE;
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp
}
}
}
// if WP has been reached once, wait hold time before trigger to next one
if(WPArrived)
if(NCFlags & NC_FLAG_TARGET_REACHED)
{
/* ToDo: Adjust GPS_pWaypoint->Heading, GPS_pWaypoint->Event handling */
if(CheckDelay(WPTime))
{
GPS_pWaypoint = WPList_Next(); // goto to next waypoint, return NULL if end of list has been reached
WPArrived = FALSE; // which is not arrived
}
} // EOF if(WPArrived)
else
{
WPTime = SetDelay(GPS_pWaypoint->HoldTime * 1000); // set hold time stamp
}
}
} // EOF waypoint trigger logic
 
516,6 → 511,8
// update the hold position
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition);
GPS_pTargetPosition = &(GPS_pWaypoint->Position);
GPS_TargetRadius = (u32)(GPS_pWaypoint->ToleranceRadius) * 100L;
 
}
else // no waypoint info available, i.e. the WPList is empty or the end of the list has been reached
{
523,6 → 520,7
if(GPS_HomePosition.Status == INVALID)
{
GPS_pTargetPosition = &GPS_HoldPosition; // fall back to hold mode if home position is not available
GPS_TargetRadius = 100;
BeepTime = 255; // beep to indicate missin home position
}
else // the home position is valid
531,6 → 529,7
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition);
// set target to home position
GPS_pTargetPosition = &GPS_HomePosition;
GPS_TargetRadius = 100;
}
}
} // EOF no manual control
543,6 → 542,7
GPS_CopyPosition(&(GPSData.Position), &GPS_HoldPosition);
// no target position
GPS_pTargetPosition = NULL;
GPS_TargetRadius = 0;
break;
 
}// EOF GPS Mode Handling
557,6 → 557,7
if((GPS_pTargetPosition != pTargetPositionOld) || (GPS_pTargetPosition->Status == NEWDATA) || (GPS_Parameter.OperatingRadius != OperatingRadiusOld) )
{
BeepTime = 255; // beep to indicate setting of a new target position
NCFlags &= ~NC_FLAG_TARGET_REACHED; // clear target reached flag
// calculate deviation of new target position from home position
if(GPS_CalculateDeviation(GPS_pTargetPosition, &GPS_HomePosition, &TargetHomeDeviation))
{
564,7 → 565,7
if(TargetHomeDeviation.Distance > GPS_Parameter.OperatingRadius)
{
//calculate ranged target position to be within the operation radius area
NaviData.NCFlags |= NC_FLAG_RANGE_LIMIT;
NCFlags |= NC_FLAG_RANGE_LIMIT;
 
TargetHomeDeviation.North *= GPS_Parameter.OperatingRadius;
TargetHomeDeviation.North /= TargetHomeDeviation.Distance;
584,7 → 585,7
{ // the target is located within the operation radius area
// simple copy the loaction to the ranged target position
GPS_CopyPosition(GPS_pTargetPosition, &RangedTargetPosition);
NaviData.NCFlags &= ~NC_FLAG_RANGE_LIMIT;
NCFlags &= ~NC_FLAG_RANGE_LIMIT;
}
}
else
602,7 → 603,11
 
// calculate deviation of current position to ranged target position in cm
if(GPS_CalculateDeviation(&(GPSData.Position), &RangedTargetPosition, &CurrentTargetDeviation))
{
{ // set target reached flag of we once reached the target point
if(!(NCFlags |= NC_FLAG_TARGET_REACHED) && (CurrentTargetDeviation.Distance < GPS_TargetRadius))
{
NCFlags |= NC_FLAG_TARGET_REACHED; // set target reached flag
}
// implement your control code here based
// in the info available in the CurrentTargetDeviation, GPSData and FromFlightCtrl.GyroHeading
GPS_Stick.Nick = 0;
649,11 → 654,12
NaviData.CompassHeading = (s16)FromFlightCtrl.GyroHeading/10; // in deg
NaviData.AngleNick = FromFlightCtrl.AngleNick / 10; // in deg
NaviData.AngleRoll = FromFlightCtrl.AngleRoll / 10; // in deg
NaviData.RC_Quality = (u8) FC.RC_Quality;
NaviData.RC_Quality = (u8)FC.RC_Quality;
NaviData.MKFlags = (u8)FC.MKFlags;
NaviData.NCFlags = NCFlags;
NaviData.OperatingRadius = Parameter.NaviOperatingRadius;
NaviData.TopSpeed = (s16)GPSData.Speed_Top; // in cm/s
 
NaviData.TargetHoldTime = (u16)GetDelay(WPTime);
//+++++++++++++++++++++++++++++++++++++++++++++++++++
return;
}
/trunk/Obj/Navi-Ctrl_STR9.hex
10,15 → 10,15
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43,18 → 43,18
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/trunk/gpx.c
313,11 → 313,11
// todo: add <extensions> tag with additional data to be logged
sprintf(string, "<extensions>\r\n");
fputs_(string, doc->file);
// Course
// Course in deg
i16_1 = GPSData.Heading/100000L;
sprintf(string, "<Course>%03d</Course>\r\n", i16_1);
fputs_(string, doc->file);
// Ground Speed
// Ground Speed in cm/s
sprintf(string, "<GroundSpeed>%d</GroundSpeed>\r\n", NaviData.GroundSpeed);
fputs_(string, doc->file);
// Ubat
328,25 → 328,23
// RC Quality
sprintf(string, "<RCQuality>%d</RCQuality>\r\n", FC.RC_Quality);
fputs_(string, doc->file);
// Compass
// Compassind deg
i16_1 = FromFlightCtrl.GyroHeading / 10;
sprintf(string, "<Compass>%03d</Compass>\r\n", i16_1);
fputs_(string, doc->file);
// Nick Angle
// Nick Angle ind deg
sprintf(string, "<NickAngle>%03d</NickAngle>\r\n", NaviData.AngleNick);
fputs_(string, doc->file);
// Roll Angle
// Roll Angle in deg
sprintf(string, "<RollAngle>%03d</RollAngle>\r\n", NaviData.AngleRoll);
fputs_(string, doc->file);
// GPS Mode
if(NaviData.NCFlags & NC_FLAG_FREE) sprintf(string, "<GPS_Mode>FREE</GPS_Mode>\r\n");
else if(NaviData.NCFlags & NC_FLAG_PH) sprintf(string, "<GPS_Mode>PH</GPS_Mode>\r\n");
else if(NaviData.NCFlags & NC_FLAG_CH) sprintf(string, "<GPS_Mode>CH</GPS_Mode>\r\n");
// NC Mode (contains the status)
sprintf(string, "<NCFlag>%02X</NCFlag>\r\n", NCFlags);
fputs_(string, doc->file);
// Target Bearing
// Target Bearing in deg
sprintf(string, "<TargetBearing>%03d</TargetBearing>\r\n", NaviData.TargetPositionDeviation.Bearing);
fputs_(string, doc->file);
// Target Distance
// Target Distance in dm
sprintf(string, "<TargetDistance>%d</TargetDistance>\r\n", NaviData.TargetPositionDeviation.Distance);
fputs_(string, doc->file);
// eof extensions
/trunk/logging.c
64,6 → 64,9
#include "ssc.h"
#include "settings.h"
 
 
#define LOG_FLUSH_INTERVAL 20000 // 20s
 
typedef enum
{
LOGFILE_IDLE,
83,7 → 86,7
u32 GPX_Interval; // the gpx-log interval (0 = off)
} LogCfg_t;
 
LogCfg_t LogCfg = {500 , 1000};
LogCfg_t LogCfg = {500 , 0};
 
 
//----------------------------------------------------------------------------------------------------
144,7 → 147,7
{
static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate
static s8* logfilename = NULL; // the pointer to the logfilename
static u32 logtimer = 0; // the log update timer
static u32 logtimer = 0, flushtimer = 0; // the log update timer
static KML_Document_t logfile; // the logfilehandle
 
// initialize if LogDelay os zero
192,6 → 195,7
// try to create the log file
if(KML_DocumentOpen(logfilename, &logfile))
{
flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
logfilestate = LOGFILE_OPENED; // goto next step
SerialPutString("\r\nOpening kml-file:");
SerialPutString(logfilename);
223,7 → 227,15
KML_DocumentClose(&logfile);
logfilestate = LOGFILE_ERROR;
}
//else DebugOut.Analog[26]++; // count SD-Logs
else // sucessfully logged
{
if(CheckDelay(flushtimer))
{
flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
fflush_(logfile.file);
}
}
 
}
break;
 
234,7 → 246,7
logfilestate = LOGFILE_IDLE;
break;
}
} // EOF model is flying
} // EOF motors are not running
else // model is not flying
{ // close log file if opened
if(logfilestate == LOGFILE_OPENED)
246,10 → 258,11
}
else // could not be closed
{
SerialPutString("\r\nError closing kml-file\r\n");
logfilestate = LOGFILE_ERROR;
}
}
} //EOF model is not flying
} //EOF motors are not running
} // EOF Check LogTimer
 
return logfilestate;
261,7 → 274,7
{
static logfilestate_t logfilestate = LOGFILE_IDLE; // the current logfilestate
static s8* logfilename = NULL; // the pointer to the logfilename
static u32 logtimer = 0; // the log update timer
static u32 logtimer = 0, flushtimer = 0; // the log update timer
static GPX_Document_t logfile; // the logfilehandle
 
// initialize if LogDelay os zero
309,6 → 322,7
// try to create the log file
if(GPX_DocumentOpen(logfilename, &logfile))
{
flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
logfilestate = LOGFILE_OPENED; // goto next step
SerialPutString("\r\nOpening gpx-file:");
SerialPutString(logfilename);
340,6 → 354,14
GPX_DocumentClose(&logfile);
logfilestate = LOGFILE_ERROR;
}
else // successful log
{
if(CheckDelay(flushtimer))
{
flushtimer = SetDelay(LOG_FLUSH_INTERVAL);
fflush_(logfile.file);
}
}
}
break;
 
362,6 → 384,7
}
else // could not be closed
{
SerialPutString("\r\nError closing gpx-file\r\n");
logfilestate = LOGFILE_ERROR;
}
}
377,10 → 400,10
{
LogCfg.KML_Interval = 500; //default
Settings_GetParamValue(PID_KML_LOGGING, (u16*)&LogCfg.KML_Interval); // overwrite by settings value
Logging_KML(0);
Logging_KML(0); // initialize
LogCfg.GPX_Interval = 0; //default
Settings_GetParamValue(PID_GPX_LOGGING, (u16*)&LogCfg.GPX_Interval); // overwrite by settings value
Logging_GPX(0);
Logging_GPX(0); // initialize
}
 
//----------------------------------------------------------------------------------------------------
391,27 → 414,29
static logfilestate_t logstate = LOGFILE_IDLE;
 
 
if(SD_SWITCH && CheckDelay(logtimer)) // a card is in slot
if(SD_SWITCH) // a card is in slot
{
logtimer = SetDelay(10); // faster makes no sense
// call the logger handlers if no error has occured
if(logstate != LOGFILE_ERROR) logstate = Logging_KML(LogCfg.KML_Interval);
if(logstate != LOGFILE_ERROR) logstate = Logging_GPX(LogCfg.GPX_Interval);
 
// a logging error has occured
if(logstate == LOGFILE_ERROR)
if(CheckDelay(logtimer))
{
Logging_Init(); // initialize the logs
// try to initialize the Fat 16 filesystem
if(0 == Fat16_Init())
{ // Fat 16 successfully initialized
logstate = LOGFILE_IDLE;
logtimer = SetDelay(10); // try again in open logfile in 10 mili sec
}
else
{ // retry in 5 seconds
logtimer = SetDelay(5000); // try again in 5 sec
}
} //EOF logfile error
}// EOF CheckDelay
logtimer = SetDelay(10); // faster makes no sense
// call the logger handlers if no error has occured
if(logstate != LOGFILE_ERROR) logstate = Logging_KML(LogCfg.KML_Interval);
if(logstate != LOGFILE_ERROR) logstate = Logging_GPX(LogCfg.GPX_Interval);
// a logging error has occured
if(logstate == LOGFILE_ERROR)
{
if(Fat16_IsValid()) // wait for reinizialization of fat16 from outside
{
Logging_Init(); // initialize the logs
logstate = LOGFILE_IDLE;
logtimer = SetDelay(10); // try next log in 10 mili sec
}
else
{ // retry in 5 seconds
logtimer = SetDelay(5000); // try again in 5 sec
}
} //EOF logfile error
} // EOF CheckDelay
}// EOF Card in Slot
}
/trunk/main.c
78,6 → 78,7
u32 TimerCheckError;
u32 ErrorCode = 0;
u16 BeepTime;
u8 NCFlags = 0;
 
u8 ClearMKFlags = 0;
u8 StopNavigation = 0;
244,7 → 245,7
Fat16_Init();
// initialize the settings
Settings_Init();
// initialize logging
// initialize logging (needs settings)
Logging_Init();
 
TimerCompassUpdate = SetDelay(5);
272,10 → 273,7
 
for (;;)
{
if(rxd_buffer_locked) // new incomming command
{
UART1_ProcessRxData(); // process request
}
UART1_ProcessRxData(); // process request
UART1_TransmitTxData(); // send answer
 
SPI0_UpdateBuffer();
322,9 → 320,9
// else NaviData.FlyingTime = 0;
TimerCheckError = SetDelay(1000);
Request_SendFollowMe = TRUE;
if(SerialDataOkay) SerialDataOkay--;
if(SerialDataOkay < 250 - 5) NaviData.NCFlags |= NC_NO_SERIAL_DATA;
else NaviData.NCFlags &= ~NC_NO_SERIAL_DATA;
if(SerialLinkOkay) SerialLinkOkay--;
if(SerialLinkOkay < 250 - 5) NCFlags |= NC_FLAG_NOSERIALLINK; // 5 seconds timeout for serial communication
else NCFlags &= ~NC_FLAG_NOSERIALLINK;
}
// ---------------- Logging ---------------------------------------
Logging_Update();
/trunk/main.h
4,10 → 4,10
 
#define VERSION_MAJOR 0
#define VERSION_MINOR 14
#define VERSION_PATCH 4
#define VERSION_PATCH 5
 
#define VERSION_SERIAL_MAJOR 10
#define VERSION_SERIAL_MINOR 0
#define VERSION_SERIAL_MINOR 1
 
#define FC_SPI_COMPATIBLE 6
#define MK3MAG_I2C_COMPATIBLE 2
27,6 → 27,7
 
extern u32 TimerCompassUpdate;
extern u16 BeepTime;
extern u8 NCFlags;
extern u8 ClearMKFlags;
void Interrupt_Init(void);
 
/trunk/sdc.c
323,7 → 323,6
 
void SDC_PrintCID(u8 * pCID)
{
u8 text[50];
u8 pn[6];
u16 temp1, temp2;
 
393,7 → 392,6
SD_Result_t SDC_Init(void)
{
u32 timeout = 0;
u8 text[50];
u8 rsp[6]; // SD-SPI response buffer
SD_Result_t result = SD_ERROR_UNKNOWN;
/trunk/settings.c
99,7 → 99,6
{
u8 i, retval = 0;
s8 string[] = " \0"; // null terminated string of 16 characters
s8 text[64];
 
if((name == NULL) || (value == NULL)) return(retval);
 
107,7 → 106,6
if (i > 16) i = 16; // cut off at 16
 
memcpy(string, name, i); // copy name to local buffer
//sprintf(text,"#%s#%s#\n\r", name, string); SerialPutString(text);
 
// search name in parameter list
for (i = 0; i < sizeof(CFG_Parameter) / sizeof(Parameter_t); i++)
140,7 → 138,7
{
#define LINE_MAX 32
File_t *fp;
s8 text[LINE_MAX];
s8 settingsline[LINE_MAX];
s8 *name, *value;
u8 i;
 
158,17 → 156,17
return;
}
// read all lines from file
while(fgets_(text, LINE_MAX, fp) != 0)
while(fgets_(settingsline, LINE_MAX, fp) != 0)
{
if ( // ignorelines starting with \r,\n,' ',';','#'
(text[0] != '\n') &&
(text[0] != '\r') &&
(text[0] != ' ' ) &&
(text[0] != ';' ) &&
(text[0] != '#' )
(settingsline[0] != '\n') &&
(settingsline[0] != '\r') &&
(settingsline[0] != ' ' ) &&
(settingsline[0] != ';' ) &&
(settingsline[0] != '#' )
)
{
name = strtok(text, "="); // get name
name = strtok(settingsline, "="); // get name
value = strtok(NULL, "="); // get value
if ((name != NULL) && (value != NULL))
{
191,8 → 189,8
// run thrue all parameters and set value to default
for (i = 0; i < sizeof(CFG_Parameter) / sizeof(Parameter_t); i++)
{
sprintf(text, "%s = %d\r\n", CFG_Parameter[i].Name, CFG_Parameter[i].Default);
fputs_(text, fp); // write to file
sprintf(settingsline, "%s = %d\r\n", CFG_Parameter[i].Name, CFG_Parameter[i].Default);
fputs_(settingsline, fp); // write to file
}
fputs_("\r\n", fp); // newline at the end of file
fclose_(fp);
/trunk/spi_slave.c
293,10 → 293,10
switch (ToFlightCtrl.Command)
{
case SPI_KALMAN:
ToFlightCtrl.Param.Byte[0] = (char) FC_Kalman_K;
ToFlightCtrl.Param.Byte[1] = (char) Kalman_MaxFusion;
ToFlightCtrl.Param.Byte[2] = (char) Kalman_MaxDrift;
ToFlightCtrl.Param.Byte[3] = (char) SerialDataOkay;
ToFlightCtrl.Param.sByte[0] = (s8) FC_Kalman_K;
ToFlightCtrl.Param.sByte[1] = (s8) Kalman_MaxFusion;
ToFlightCtrl.Param.sByte[2] = (s8) Kalman_MaxDrift;
ToFlightCtrl.Param.Byte[3] = (u8) SerialLinkOkay;
break;
 
default:
/trunk/timer.c
130,6 → 130,17
}
 
// -----------------------------------------------------------------------
// this function calculates the time difference of t to the current time in ms
// if t < current time the delay is reportet as zero
u32 GetDelay(u32 t)
{
u32 delay = 0;
delay = t - CountMilliseconds;
if(delay & 0x80000000) delay = 0; // avoid negative delay values
return(delay);
}
 
// -----------------------------------------------------------------------
void Delay_ms(u32 w)
{
static u32 akt;
/trunk/timer.h
18,7 → 18,8
extern u32 CountMilliseconds;
 
void TIMER1_Init(void);
u32 SetDelay (u32 t);
u32 SetDelay(u32 t);
u32 GetDelay(u32 t);
u8 CheckDelay(u32 t);
void Delay_ms(u32 w);
 
/trunk/uart1.c
81,6 → 81,17
#define FALSE 0
#define TRUE 1
 
typedef struct
{
u8 SWMajor;
u8 SWMinor;
u8 ProtoMajor;
u8 ProtoMinor;
u8 SWPatch;
u8 Reserved[5];
} __attribute__((packed)) UART_VersionInfo_t;
 
 
u8 Request_SendFollowMe = FALSE;
u8 Request_VerInfo = FALSE;
u8 Request_ExternalControl = FALSE;
92,7 → 103,9
u8 Request_NaviData = FALSE;
u8 Request_ErrorMessage = FALSE;
u8 Request_NewWaypoint = FALSE;
u8 Request_Data3D = FALSE;
u8 Request_ReadWaypoint = 255;
u8 Request_Data3D = FALSE;
u8 Request_Echo = FALSE;
 
u8 DisplayLine = 0;
 
105,8 → 118,8
volatile u8 ReceivedBytes = 0;
volatile u8 CntCrcError = 0;
volatile u8 *pRxData = NULL;
volatile u8 RxDataLen = 0;
volatile u8 SerialDataOkay = 0;
volatile u8 RxDataLen = 0;
volatile u8 SerialLinkOkay = 0;
 
u8 text[100];
 
120,6 → 133,7
NaviData_t NaviData;
Waypoint_t FollowMe;
Data3D_t Data3D;
u16 Echo; // 2 bytes recieved will be sent back as echo
 
u32 DebugData_Timer;
u32 DebugData_Interval = 5000; // in ms
242,8 → 256,7
UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR;
 
NaviData.Version = NAVIDATA_VERSION;
WPList_Clear();
GPS_pWaypoint = WPList_Begin();
 
SerialPutString("\r\nUART1 init...ok");
}
 
338,7 → 351,6
rxd_buffer_locked = TRUE; // lock the rxd buffer
ReceivedBytes = ptr_rxd_buffer + 1; // store number of received bytes
rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character
SerialDataOkay = 250;
// if 2nd byte is an 'R' start bootloader
if(rxd_buffer[2] == 'R')
{
534,6 → 546,12
 
switch(rxd_buffer[2])
{
case 'z': // connection checker
Echo = *((u16*)&pRxData[0]); // copy echo pattern
SerialLinkOkay = 250; // reset SerialTimeout
Request_Echo = TRUE;
break;
 
case 'e': // request for the text of the error status
Request_ErrorMessage = TRUE;
break;
571,7 → 589,7
}
break;
 
case 'w':// new PCPosition for GPSTargetList
case 'w':// Append Waypoint to List
pWaypoint = (Waypoint_t*)&pRxData[0];
if(pWaypoint->Position.Status == INVALID)
{ // clear WP List
588,6 → 606,10
Request_NewWaypoint = TRUE;
break;
 
case 'x':// Read Waypoint from List
Request_ReadWaypoint = pRxData[0];
break;
 
default:
// unsupported command recieved
break;
689,6 → 711,12
{
if(!txd_complete || (DebugUART != UART1) ) return;
 
if(Request_Echo && txd_complete)
{
SendOutData('Z', NC_ADDRESS, 1, &Echo, sizeof(Echo)); // answer the echo request
Echo = 0; // reset echo value
Request_Echo = FALSE;
}
if(Request_DebugLabel != 0xFF)
{
SendOutData('A', NC_ADDRESS, 2, &Request_DebugLabel, sizeof(Request_DebugLabel), (u8 *) ANALOG_LABEL[Request_DebugLabel], 16);
773,5 → 801,19
Request_NewWaypoint = FALSE;
}
 
if((Request_ReadWaypoint != 0xFF) && txd_complete)
{
u8 WPNumber = WPList_GetCount();
if (Request_ReadWaypoint < WPNumber)
{
SendOutData('X', NC_ADDRESS, 3, &WPNumber, 1, &Request_ReadWaypoint, 1, WPList_GetAt(Request_ReadWaypoint), sizeof(Waypoint_t));
}
else
{
SendOutData('X', NC_ADDRESS, 1, &WPNumber, sizeof(WPNumber));
}
Request_ReadWaypoint = 0xFF;
}
 
}
 
/trunk/uart1.h
9,14 → 9,14
#define RXD_BUFFER_LEN 150
#define BAUD_RATE 57600 //Baud Rate for the serial interfaces
 
#include "ubx.h"
#include "ubx.h"
 
typedef struct
{
{
s16 AngleNick; // in 0.1 deg
s16 AngleRoll; // in 0.1 deg
s16 Heading; // in 0.1 deg
u8 reserve[8];
u8 reserve[8];
} __attribute__((packed)) Data3D_t;
 
extern Data3D_t Data3D;
55,10 → 55,10
typedef struct
{
u16 Distance; // distance to target in dm
s16 Bearing; // course to target in deg
s16 Bearing; // course to target in deg
} __attribute__((packed)) GPS_PosDev_t;
 
#define NAVIDATA_VERSION 1
#define NAVIDATA_VERSION 1
 
typedef struct
{
86,34 → 86,26
u8 Errorcode; // 0 --> okay
u8 OperatingRadius; // current operation radius around the Home Position in m
s16 TopSpeed; // velocity in vertical direction in cm/s
u8 Reserve[5]; // for future use
u16 TargetHoldTime; // time in ms to stay at the given target, counts down to 0 if target has been reached
u8 Reserve[3]; // for future use
} __attribute__((packed)) NaviData_t;
 
extern NaviData_t NaviData;
extern u8 Request_NaviData;
#define NC_FLAG_FREE 1
#define NC_FLAG_PH 2
#define NC_FLAG_CH 4
#define NC_FLAG_RANGE_LIMIT 8
#define NC_NO_SERIAL_DATA 0x10
 
typedef struct
{
u8 SWMajor;
u8 SWMinor;
u8 ProtoMajor;
u8 ProtoMinor;
u8 SWPatch;
u8 Reserved[5];
} __attribute__((packed)) UART_VersionInfo_t;
#define NC_FLAG_FREE 0x01
#define NC_FLAG_PH 0x02
#define NC_FLAG_CH 0x04
#define NC_FLAG_RANGE_LIMIT 0x08
#define NC_FLAG_NOSERIALLINK 0x10
#define NC_FLAG_TARGET_REACHED 0x20
#define NC_FLAG_7 0x40
#define NC_FLAG_8 0x80
 
extern volatile u8 rxd_buffer[RXD_BUFFER_LEN];
extern volatile u8 ReceivedBytes;
extern volatile u8 rxd_buffer_locked;
extern UART_TypeDef *DebugUART;
extern volatile u8 SerialDataOkay;
extern volatile u8 SerialLinkOkay;
 
 
void UART1_Init(void);
void UART1_Transmit(void);
void UART1_TransmitTxData(void);
121,7 → 113,6
 
s16 uart_putchar (char c);
void SerialPutString(u8 *s);
extern u8 text[100];
extern u32 Request_NaviData_Intervall; // in ms
extern u8 text[100]; // globally used text buffer
extern u8 Request_SendFollowMe;
#endif //_UART1_H
/trunk/usb_endp.c
41,10 → 41,7
void EP3_OUT_Callback(void)
{
USB_BufferRxCount= GetEPRxCount(ENDP3);
//ReceivedBytes = GetEPRxCount(ENDP3);
PMAToUserBufferCopy(USB_BufferRx, ENDP3_RXADDR, USB_BufferRxCount );
//PMAToUserBufferCopy((u8*) rxd_buffer, ENDP3_RXADDR, ReceivedBytes);
//rxd_buffer_locked = 1;
USB_BufferRx[USB_BufferRxCount] = 0; // terminate buffer contents
SetEPRxValid(ENDP3);
sprintf(text,"USB (%ld): %s\n\r", USB_BufferRxCount, USB_BufferRx);
/trunk/waypoints.c
80,10 → 80,16
NaviData.WaypointNumber = WPNumber;
NaviData.WaypointIndex = WPIndex;
 
 
for(i = 0; i < WPLISTLEN; i++)
{
WPList[i].Position.Status = INVALID;
WPList[i].Position.Status = INVALID;
WPList[i].Position.Latitude = 0;
WPList[i].Position.Longitude = 0;
WPList[i].Position.Altitude = 0;
WPList[i].Heading = -1;
WPList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered
WPList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered
WPList[i].Event_Flag = 0; // future implementation
}
return TRUE;
}
125,6 → 131,11
NaviData.WaypointIndex = WPIndex;
return(&(WPList[WPIndex])); // return pointer to this waypoint
}
else return NULL;
else return(NULL);
}
Waypoint_t* WPList_GetAt(u8 index)
{
if(index < WPNumber) return(&(WPList[index])); // return pointer to this waypoint
else return(NULL);
}
/trunk/waypoints.h
19,5 → 19,6
u8 WPList_Append(Waypoint_t* pwp);
Waypoint_t* WPList_Begin(void);
Waypoint_t* WPList_Next(void);
Waypoint_t* WPList_GetAt(u8 index);
 
#endif // _WAYPOINTS_H