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1 | ingob | 1 | /*#######################################################################################*/ |
41 | ingob | 2 | /*#######################################################################################*/ |
3 | |||
4 | // IMPORTANT NOTE: |
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5 | |||
6 | // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources. |
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7 | |||
8 | // The GPS navigation routines are NOT included ! |
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9 | |||
10 | /*#######################################################################################*/ |
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11 | /*#######################################################################################*/ |
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1 | ingob | 12 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
13 | /*#######################################################################################*/ |
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14 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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15 | // + Copyright (c) 2008 Ingo Busker, Holger Buss |
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171 | ingob | 16 | // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY |
1 | ingob | 17 | // + FOR NON COMMERCIAL USE ONLY |
18 | // + www.MikroKopter.com |
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19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 20 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
21 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
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22 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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23 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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1 | ingob | 24 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
25 | // + Verkauf von Luftbildaufnahmen, usw. |
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26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 27 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
1 | ingob | 28 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
29 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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30 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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31 | // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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32 | // + eindeutig als Ursprung verlinkt werden |
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33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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34 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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35 | // + Benutzung auf eigene Gefahr |
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36 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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37 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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171 | ingob | 38 | // + Die Portierung oder Nutzung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
1 | ingob | 39 | // + mit unserer Zustimmung zulässig |
40 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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42 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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41 | ingob | 43 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
1 | ingob | 44 | // + this list of conditions and the following disclaimer. |
45 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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46 | // + from this software without specific prior written permission. |
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41 | ingob | 47 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permitted |
1 | ingob | 48 | // + for non-commercial use (directly or indirectly) |
41 | ingob | 49 | // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
1 | ingob | 50 | // + with our written permission |
41 | ingob | 51 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
52 | // + clearly linked as origin |
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171 | ingob | 53 | // + * porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 54 | // |
55 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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56 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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57 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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58 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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59 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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60 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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61 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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62 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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63 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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64 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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41 | ingob | 65 | // + POSSIBILITY OF SUCH DAMAGE. |
1 | ingob | 66 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
41 | ingob | 67 | #include <stdio.h> |
68 | #include <stdlib.h> |
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69 | #include <math.h> |
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70 | #include "91x_lib.h" |
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1 | ingob | 71 | #include "main.h" |
41 | ingob | 72 | #include "uart1.h" |
73 | #include "GPS.h" |
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119 | killagreg | 74 | #include "timer1.h" |
41 | ingob | 75 | #include "spi_slave.h" |
76 | #include "waypoints.h" |
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77 | #include "i2c.h" |
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1 | ingob | 78 | |
79 | |||
41 | ingob | 80 | #define M_PI_180 (M_PI / 180.0f) |
81 | #define GPS_UPDATETIME_MS 200 // 200ms is 5 Hz |
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82 | typedef enum |
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83 | { |
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84 | GPS_FLIGHT_MODE_UNDEF, |
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85 | GPS_FLIGHT_MODE_FREE, |
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86 | GPS_FLIGHT_MODE_AID, |
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87 | GPS_FLIGHT_MODE_WAYPOINT |
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88 | } GPS_FlightMode_t; |
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1 | ingob | 89 | |
41 | ingob | 90 | typedef struct |
91 | { |
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92 | float Gain; |
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93 | float P; |
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94 | float I; |
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95 | float D; |
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103 | killagreg | 96 | float A; |
41 | ingob | 97 | float ACC; |
102 | killagreg | 98 | s32 P_Limit; |
99 | s32 I_Limit; |
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100 | s32 D_Limit; |
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101 | s32 PID_Limit; |
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73 | killagreg | 102 | u32 BrakingDuration; |
41 | ingob | 103 | u8 MinSat; |
104 | s8 StickThreshold; |
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105 | float WindCorrection; |
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89 | killagreg | 106 | float SpeedCompensation; |
102 | killagreg | 107 | s32 OperatingRadius; |
41 | ingob | 108 | GPS_FlightMode_t FlightMode; |
109 | } __attribute__((packed)) GPS_Parameter_t; |
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1 | ingob | 110 | |
41 | ingob | 111 | typedef struct |
112 | { |
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146 | killagreg | 113 | u8 Status; // invalid, newdata, processed |
103 | killagreg | 114 | s32 North; // in cm |
41 | ingob | 115 | s32 East; // in cm |
116 | s32 Bearing; // in deg |
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102 | killagreg | 117 | s32 Distance; // in cm |
41 | ingob | 118 | } __attribute__((packed)) GPS_Deviation_t; |
73 | killagreg | 119 | GPS_Deviation_t CurrentTargetDeviation; // Deviation from Target |
120 | GPS_Deviation_t CurrentHomeDeviation; // Deviation from Home |
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121 | GPS_Deviation_t TargetHomeDeviation; // Deviation from Target to Home |
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41 | ingob | 122 | |
123 | GPS_Stick_t GPS_Stick; |
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124 | GPS_Parameter_t GPS_Parameter; |
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125 | |||
126 | // the gps reference positions |
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127 | GPS_Pos_t GPS_HoldPosition = {0,0,0, INVALID}; // the hold position |
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128 | GPS_Pos_t GPS_HomePosition = {0,0,0, INVALID}; // the home position |
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129 | GPS_Pos_t * GPS_pTargetPosition = NULL; // pointer to the actual target position |
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92 | killagreg | 130 | u32 GPS_TargetRadius = 0; // catch radius for target area |
41 | ingob | 131 | Waypoint_t* GPS_pWaypoint = NULL; // pointer to the actual waypoint |
132 | |||
133 | //------------------------------------------------------------- |
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134 | // Update GPSParamter |
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135 | void GPS_UpdateParameter(void) |
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136 | { |
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137 | } |
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138 | |||
139 | //------------------------------------------------------------- |
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140 | // This function defines a good GPS signal condition |
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141 | u8 GPS_IsSignalOK(void) |
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142 | { |
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190 | killagreg | 143 | return 0; |
41 | ingob | 144 | } |
145 | |||
1 | ingob | 146 | //------------------------------------------------------------ |
41 | ingob | 147 | // Checks for manual control action |
148 | u8 GPS_IsManuallyControlled(void) |
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149 | { |
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190 | killagreg | 150 | return 0; |
41 | ingob | 151 | } |
152 | |||
153 | //------------------------------------------------------------ |
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154 | // copy GPS position from source position to target position |
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155 | u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt) |
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156 | { |
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190 | killagreg | 157 | return 0; |
41 | ingob | 158 | } |
159 | |||
160 | //------------------------------------------------------------ |
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161 | // clear position data |
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162 | u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
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163 | { |
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190 | killagreg | 164 | return 0; |
41 | ingob | 165 | } |
166 | |||
167 | |||
168 | //------------------------------------------------------------ |
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97 | killagreg | 169 | void GPS_Neutral(void) |
41 | ingob | 170 | { |
171 | } |
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172 | |||
173 | //------------------------------------------------------------ |
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1 | ingob | 174 | void GPS_Init(void) |
175 | { |
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41 | ingob | 176 | } |
1 | ingob | 177 | |
41 | ingob | 178 | //------------------------------------------------------------ |
179 | // calculate the bearing to target position from its deviation |
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180 | s32 DirectionToTarget_N_E(float northdev, float eastdev) |
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181 | { |
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190 | killagreg | 182 | return 0; |
1 | ingob | 183 | } |
41 | ingob | 184 | |
185 | |||
1 | ingob | 186 | //------------------------------------------------------------ |
41 | ingob | 187 | // Rescale xy-vector length if length limit is violated |
102 | killagreg | 188 | // returns vector len after scaling |
189 | s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit) |
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41 | ingob | 190 | { |
190 | killagreg | 191 | return 0; |
41 | ingob | 192 | } |
1 | ingob | 193 | |
41 | ingob | 194 | //------------------------------------------------------------ |
195 | // transform the integer deg into float radians |
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196 | inline double RadiansFromGPS(s32 deg) |
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1 | ingob | 197 | { |
190 | killagreg | 198 | return 0.0; |
41 | ingob | 199 | } |
1 | ingob | 200 | |
41 | ingob | 201 | //------------------------------------------------------------ |
202 | // transform the integer deg into float deg |
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203 | inline double DegFromGPS(s32 deg) |
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204 | { |
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190 | killagreg | 205 | return 0.0; |
41 | ingob | 206 | } |
1 | ingob | 207 | |
41 | ingob | 208 | //------------------------------------------------------------ |
209 | // calculate the deviation from the current position to the target position |
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73 | killagreg | 210 | u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget) |
41 | ingob | 211 | { |
190 | killagreg | 212 | return 0; |
1 | ingob | 213 | } |
214 | |||
216 | killagreg | 215 | void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick) |
190 | killagreg | 216 | { |
217 | return; |
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218 | } |
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241 | killagreg | 219 | |
220 | void CalcHeadFree(void) |
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221 | { |
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222 | return; |
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223 | } |