/trunk/fc.c |
---|
1187,6 → 1187,7 |
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; |
/trunk/fc.h |
---|
42,6 → 42,7 |
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; |
/trunk/main.c |
---|
307,6 → 307,18 |
ExternStickGier = 0; |
} |
if(SenderOkay) SenderOkay--; |
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
//if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
if(NaviDataOkay) |
{ |
if(--NaviDataOkay == 0) |
{ |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
} |
if(!--I2CTimeout || MissingMotor) |
{ |
if(!I2CTimeout) |
/trunk/makefile |
---|
5,11 → 5,11 |
#------------------------------------------------------------------- |
VERSION_MAJOR = 0 |
VERSION_MINOR = 73 |
VERSION_PATCH = 2 |
VERSION_PATCH = 3 |
VERSION_SERIAL_MAJOR = 10 # Serial Protocol |
VERSION_SERIAL_MINOR = 1 # Serial Protocol |
NC_SPI_COMPATIBLE = 5 # Navi-Kompatibilität |
NC_SPI_COMPATIBLE = 6 # Navi-Kompatibilität |
#------------------------------------------------------------------- |
ifeq ($(MCU), atmega32) |
/trunk/spi.c |
---|
16,7 → 16,7 |
unsigned char *SPI_TX_Buffer; |
unsigned char SPITransferCompleted, SPI_ChkSum; |
unsigned char SPI_RxDataValid; |
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; |
43,6 → 43,7 |
ToNaviCtrl.Command = SPI_CMD_USER; |
ToNaviCtrl.IntegralNick = 0; |
ToNaviCtrl.IntegralRoll = 0; |
FromNaviCtrl_Value.SerialDataOkay = 0; |
SPI_RxDataValid = 0; |
SPI_VersionInfo.Major = VERSION_MAJOR; |
240,12 → 241,13 |
sei(); |
if (SPI_RxDataValid) |
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; |
258,6 → 260,7 |
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: |
268,7 → 271,6 |
{ |
// KompassValue = 0; |
// KompassRichtung = 0; |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
/trunk/spi.h |
---|
102,6 → 102,7 |
signed char Kalman_K; |
signed char Kalman_MaxDrift; |
signed char Kalman_MaxFusion; |
unsigned char SerialDataOkay; |
}; |
struct str_SPI_VersionInfo |
117,7 → 118,7 |
extern struct str_FromNaviCtrl_Value FromNaviCtrl_Value; |
extern struct str_ToNaviCtrl ToNaviCtrl; |
extern struct str_FromNaviCtrl FromNaviCtrl; |
extern unsigned char SPI_CommandCounter; |
extern unsigned char SPI_CommandCounter,NaviDataOkay; |
//#define SPI_CMD_VALUE 0x03 |
/trunk/uart.c |
---|
76,7 → 76,7 |
" ", |
"Kalman_MaxDrift ", |
" ", |
" ", |
"Navi Serial Data", |
"GPS_Nick ", //30 |
"GPS_Roll " |
}; |