| /beta/Code Redesign killagreg/dsl.h |
|---|
| File deleted |
| /beta/Code Redesign killagreg/gps.c |
|---|
| File deleted |
| /beta/Code Redesign killagreg/gps.h |
|---|
| File deleted |
| /beta/Code Redesign killagreg/mm3.c |
|---|
| File deleted |
| /beta/Code Redesign killagreg/mm3.h |
|---|
| File deleted |
| /beta/Code Redesign killagreg/uart1.c |
|---|
| File deleted |
| /beta/Code Redesign killagreg/ubx.c |
|---|
| File deleted |
| /beta/Code Redesign killagreg/uart1.h |
|---|
| File deleted |
| /beta/Code Redesign killagreg/ubx.h |
|---|
| File deleted |
| /beta/Code Redesign killagreg/dsl.c |
|---|
| File deleted |
| /beta/Code Redesign killagreg/Hex-Files/Readme.txt |
|---|
| File deleted |
| /beta/Code Redesign killagreg/Hex-Files/Conrad LEA-4H Config-4Hz.txt |
|---|
| File deleted |
| /beta/Code Redesign killagreg/Hex-Files/Conrad LEA-4H Config-5Hz.txt |
|---|
| File deleted |
| /beta/Code Redesign killagreg/analog.c |
|---|
| 62,8 → 62,6 |
| #include "twimaster.h" |
| #include "uart0.h" |
| volatile uint16_t Test = 0; |
| volatile int16_t UBat = 100; |
| volatile int16_t AdValueGyroNick = 0, AdValueGyroRoll = 0, AdValueGyroYaw = 0; |
| volatile int16_t FilterHiResGyroNick = 0, FilterHiResGyroRoll = 0; |
| /beta/Code Redesign killagreg/eeprom.h |
|---|
| 15,16 → 15,6 |
| #define PID_FLIGHT_MINUTES_TOTAL 10 // word |
| #define PID_FLIGHT_MINUTES 14 // word |
| #ifdef USE_KILLAGREG |
| #define PID_MM3_X_OFF 31 // byte |
| #define PID_MM3_Y_OFF 32 // byte |
| #define PID_MM3_Z_OFF 33 // byte |
| #define PID_MM3_X_RANGE 34 // word |
| #define PID_MM3_Y_RANGE 36 // word |
| #define PID_MM3_Z_RANGE 38 // word |
| #endif |
| #define EEPROM_ADR_CHANNELS 80 // 12 bytes |
| #define EEPROM_ADR_PARAMSET_LENGTH 98 // word |
| 79,11 → 69,11 |
| #define CFG2_RES4 0x40 |
| #define CFG2_RES5 0x80 |
| #define RECV_PPMONLY 0 |
| #define RECV_SPEKTRUM 1 |
| #define RECV_JETI 2 |
| #define RECV_ACT_DSL 3 |
| #define RECV_ACT_S3D 4 |
| #define RECEIVER_PPM 0 |
| #define RECEIVER_SPEKTRUM 1 |
| #define RECEIVER_JETI 2 |
| #define RECEIVER_ACT_DSL 3 |
| #define RECEIVER_ACT_S3D 4 |
| // defines for lookup ParamSet.ChannelAssignment |
| #define CH_NICK 0 |
| /beta/Code Redesign killagreg/fc.c |
|---|
| 68,19 → 68,14 |
| #include "timer2.h" |
| #include "mymath.h" |
| #include "isqrt.h" |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #include "gps.h" |
| #endif |
| #ifdef USE_MK3MAG |
| #include "mk3mag.h" |
| #include "gps.h" |
| #endif |
| #include "led.h" |
| #ifdef USE_NAVICTRL |
| #include "spi.h" |
| #endif |
| //#include "libfcinit.h" |
| #include "libfc.h" |
| #define STICK_GAIN 4 |
| 622,18 → 617,6 |
| CHK_POTI(FCParam.AxisCoupling2,ParamSet.AxisCoupling2); |
| CHK_POTI(FCParam.AxisCouplingYawCorrection,ParamSet.AxisCouplingYawCorrection); |
| CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability); |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| CHK_POTI(FCParam.NaviGpsModeControl,ParamSet.NaviGpsModeControl); |
| CHK_POTI(FCParam.NaviGpsGain,ParamSet.NaviGpsGain); |
| CHK_POTI(FCParam.NaviGpsP,ParamSet.NaviGpsP); |
| CHK_POTI(FCParam.NaviGpsI,ParamSet.NaviGpsI); |
| CHK_POTI(FCParam.NaviGpsD,ParamSet.NaviGpsD); |
| CHK_POTI(FCParam.NaviGpsACC,ParamSet.NaviGpsACC); |
| CHK_POTI_MM(FCParam.NaviOperatingRadius,ParamSet.NaviOperatingRadius,10, 255); |
| CHK_POTI(FCParam.NaviWindCorrection,ParamSet.NaviWindCorrection); |
| CHK_POTI(FCParam.NaviSpeedCompensation,ParamSet.NaviSpeedCompensation); |
| #endif |
| CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl); |
| Ki = 10300 / ( FCParam.IFactor + 1 ); |
| } |
| 811,7 → 794,7 |
| if((AdAirPressure > AIR_PRESSURE_SEARCH_MAX) || (AdAirPressure < AIR_PRESSURE_SEARCH_MIN)) SearchAirPressureOffset(); |
| } |
| LipoDetection(0); |
| //InitReceiver(); // libfcinit |
| LIBFC_ReceiverInit(); |
| Servo_Off(); // disable servo output |
| SetNeutral(NO_ACC_CALIB); |
| Servo_On(); // enable servo output |
| 1358,21 → 1341,9 |
| if(CompassCalState && !(FCFlags & FCFLAG_MOTOR_RUN) ) |
| { |
| SetCompassCalState(); |
| #ifdef USE_KILLAGREG |
| MM3_Calibrate(); |
| #endif |
| } |
| else |
| { |
| #ifdef USE_KILLAGREG |
| static uint8_t updCompass = 0; |
| if (!updCompass--) |
| { |
| updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
| MM3_Heading(); |
| } |
| #endif |
| // get maximum attitude angle |
| w = abs(IntegralGyroNick / 512); |
| v = abs(IntegralGyroRoll / 512); |
| 1425,23 → 1396,7 |
| } |
| } |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // GPS |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ParamSet.Config0 & CFG0_GPS_ACTIVE) |
| { |
| GPS_Main(); |
| FCFlags &= ~(FCFLAG_CALIBRATE | FCFLAG_START); |
| } |
| else |
| { |
| GPSStickNick = 0; |
| GPSStickRoll = 0; |
| } |
| #endif |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // DebugOutputs |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerDebugOut--) |
| /beta/Code Redesign killagreg/fc.h |
|---|
| 67,17 → 67,6 |
| uint8_t ExternalControl; |
| uint8_t J16Timing; |
| uint8_t J17Timing; |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| uint8_t NaviGpsModeControl; |
| uint8_t NaviGpsGain; |
| uint8_t NaviGpsP; |
| uint8_t NaviGpsI; |
| uint8_t NaviGpsD; |
| uint8_t NaviGpsACC; |
| uint8_t NaviOperatingRadius; |
| uint8_t NaviWindCorrection; |
| uint8_t NaviSpeedCompensation; |
| #endif |
| int8_t KalmanK; |
| int8_t KalmanMaxDrift; |
| int8_t KalmanMaxFusion; |
| /beta/Code Redesign killagreg/main.c |
|---|
| 60,7 → 60,6 |
| #include "timer0.h" |
| #include "timer2.h" |
| #include "uart0.h" |
| #include "uart1.h" |
| #include "led.h" |
| #include "menu.h" |
| #include "fc.h" |
| 67,9 → 66,6 |
| #include "rc.h" |
| #include "analog.h" |
| #include "printf_P.h" |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #endif |
| #ifdef USE_NAVICTRL |
| #include "spi.h" |
| #endif |
| 78,21 → 74,12 |
| #endif |
| #include "twimaster.h" |
| #include "eeprom.h" |
| //#include "libfcinit.h" |
| #include "libfc.h" |
| uint8_t BoardRelease = 10; |
| uint8_t CPUType = ATMEGA644; |
| uint8_t LowVoltageWarning = 94; |
| uint16_t FlightMinutes = 0, FlightMinutesTotal = 0; |
| uint8_t GetCPUType(void) |
| { // works only after reset or power on when the registers have default values |
| uint8_t CPUType = ATMEGA644; |
| if( (UCSR1A == 0x20) && (UCSR1C == 0x06) ) CPUType = ATMEGA644P; // initial Values for 644P after reset |
| return CPUType; |
| } |
| uint8_t GetBoardRelease(void) |
| { |
| uint8_t BoardRelease = 10; |
| 163,6 → 150,7 |
| if(print) printf("Low Warning level: %d.%dV", LowVoltageWarning/10, LowVoltageWarning%10); |
| } |
| int16_t main (void) |
| { |
| uint16_t timer, flighttimer, pollingtimer; |
| 172,7 → 160,6 |
| cli(); |
| // analyze hardware environment |
| CPUType = GetCPUType(); |
| BoardRelease = GetBoardRelease(); |
| // disable watchdog |
| 200,31 → 187,16 |
| #ifdef USE_NAVICTRL |
| SPI_MasterInit(); |
| #endif |
| #ifdef USE_KILLAGREG |
| MM3_Init(); |
| #endif |
| #ifdef USE_MK3MAG |
| MK3MAG_Init(); |
| #endif |
| if(CPUType == ATMEGA644P) USART1_Init(); |
| //InitFC(); // libfcinit |
| LIBFC_Init(); |
| GRN_ON; |
| // enable interrupts global |
| sei(); |
| printf("\n\r==================================="); |
| printf("\n\rFlightControl"); |
| printf("\n\rHardware: %d.%d", BoardRelease/10, BoardRelease%10); |
| printf("\n\rthe use of this software is only permitted \n\ron original MikroKopter-Hardware"); |
| printf("\n\rwww.MikroKopter.de (c) HiSystems GmbH"); |
| printf("\n\r==================================="); |
| if(CPUType == ATMEGA644P) |
| printf("\r\n CPU: Atmega644p"); |
| else |
| printf("\r\n CPU: Atmega644"); |
| printf("\n\rSoftware: V%d.%d%c",VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH + 'a'); |
| printf("\n\r==================================="); |
| GRN_ON; |
| 283,27 → 255,12 |
| #ifdef USE_NAVICTRL |
| printf("\n\rSupport for NaviCtrl"); |
| #ifdef USE_RC_DSL |
| printf("\r\nSupport for DSL RC at 2nd UART"); |
| #endif |
| #ifdef USE_RC_SPECTRUM |
| printf("\r\nSupport for SPEKTRUM RC at 2nd UART"); |
| #endif |
| #endif |
| #ifdef USE_KILLAGREG |
| printf("\n\rSupport for MicroMag3 Compass"); |
| #endif |
| #ifdef USE_MK3MAG |
| printf("\n\rSupport for MK3MAG Compass"); |
| #endif |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| if(CPUType == ATMEGA644P) printf("\n\rSupport for GPS at 2nd UART"); |
| else printf("\n\rSupport for GPS at 1st UART"); |
| #endif |
| // init variables |
| SetNeutral(NO_ACC_CALIB); |
| 331,7 → 288,7 |
| Menu_Clear(); |
| I2CTimeout = 5000; |
| LipoDetection(1); |
| //InitReceiver(); // libfcinit |
| LIBFC_ReceiverInit(); |
| printf("\n\r===================================\n\r"); |
| 341,14 → 298,14 |
| // begin of main loop |
| while (1) |
| { |
| /* |
| if(CheckDelay(pollingtimer)) |
| { |
| pollingtimer = SetDelay(100); |
| Polling(); // libfcinit |
| LIBFC_Polling(); |
| } |
| */ |
| if(UpdateMotor && ADReady) // control interval |
| { |
| UpdateMotor = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
| /beta/Code Redesign killagreg/main.h |
|---|
| 3,13 → 3,6 |
| #include <avr/io.h> |
| #define ATMEGA644 0 |
| #define ATMEGA644P 1 |
| #define SYSCLK F_CPU |
| // neue Hardware |
| #define RED_OFF {if((BoardRelease == 10)||(BoardRelease == 20)) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
| #define RED_ON {if((BoardRelease == 10)||(BoardRelease == 20)) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
| 22,7 → 15,6 |
| extern uint8_t LowVoltageWarning; |
| extern uint8_t BoardRelease; |
| extern uint8_t CPUType; |
| extern uint16_t FlightMinutes, FlightMinutesTotal; |
| void LipoDetection(uint8_t print); |
| /beta/Code Redesign killagreg/makefile |
|---|
| 15,14 → 15,9 |
| #OPTIONS |
| # Use one of the extensions for a gps solution |
| #EXT = KILLAGREG |
| EXT = NAVICTRL |
| #EXT = MK3MAG |
| # Use optional one the RCs if EXT = NAVICTRL has been used |
| RC = DSL |
| #RC = SPEKTRUM |
| #------------------------------------------------------------------- |
| # get SVN revision |
| REV := $(shell sh -c "cat .svn/entries | sed -n '4p'") |
| 115,23 → 110,14 |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart0.c printf_P.c timer0.c timer2.c analog.c menu.c led.c |
| SRC += twimaster.c rc.c fc.c eeprom.c uart1.c mymath.c |
| SRC += twimaster.c rc.c fc.c eeprom.c mymath.c spektrum.c |
| ifeq ($(EXT), KILLAGREG) |
| SRC += mm3.c gps.c ubx.c |
| endif |
| ifeq ($(EXT), MK3MAG) |
| SRC += mk3mag.c gps.c ubx.c |
| SRC += mk3mag.c |
| endif |
| ifeq ($(EXT), NAVICTRL) |
| SRC += spi.c |
| ifeq ($(RC), DSL) |
| SRC += dsl.c |
| endif |
| ifeq ($(RC), SPEKTRUM) |
| SRC += spektrum.c |
| endif |
| endif |
| ########################################################################################################## |
| 175,21 → 161,12 |
| CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) |
| ifeq ($(EXT), KILLAGREG) |
| CFLAGS += -DUSE_KILLAGREG |
| endif |
| ifeq ($(EXT), MK3MAG) |
| CFLAGS += -DUSE_MK3MAG |
| endif |
| ifeq ($(EXT), NAVICTRL) |
| CFLAGS += -DUSE_NAVICTRL |
| ifeq ($(RC), DSL) |
| CFLAGS += -DUSE_RC_DSL |
| endif |
| ifeq ($(RC), SPEKTRUM) |
| CFLAGS += -DUSE_RC_SPEKTRUM |
| endif |
| endif |
| 222,7 → 199,7 |
| LDFLAGS += -lm |
| # extern lib |
| LDFLAGS += libfcinit.a |
| LDFLAGS += libfc.a |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| 455,7 → 432,7 |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| $(REMOVE) $(TARGET).hex |
| $(REMOVE) Flight-Ctrl_*.hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| /beta/Code Redesign killagreg/menu.c |
|---|
| 62,25 → 62,7 |
| #include "twimaster.h" |
| #include "menu.h" |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #endif |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| #include "ubx.h" |
| #endif |
| #if (!defined (USE_KILLAGREG) && !defined (USE_MK3MAG)) |
| uint8_t MaxMenuItem = 15; |
| #else |
| #ifdef USE_MK3MAG |
| uint8_t MaxMenuItem = 16; |
| #endif |
| #ifdef USE_KILLAGREG |
| uint8_t MaxMenuItem = 18; |
| #endif |
| #endif |
| uint8_t MenuItem = 0; |
| 272,59 → 254,6 |
| } |
| break; |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| case 16://GPS Lat/Lon coords |
| if (GPSInfo.status == INVALID) |
| { |
| LCD_printfxy(0,0,"No GPS data!"); |
| } |
| else |
| { |
| switch (GPSInfo.satfix) |
| { |
| case SATFIX_NONE: |
| LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
| break; |
| case SATFIX_2D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
| break; |
| case SATFIX_3D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
| break; |
| default: |
| LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
| break; |
| } |
| int16_t i1,i2,i3; |
| i1 = (int16_t)(GPSInfo.longitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,1,"Lon: %d.%03d%03d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.latitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,2,"Lat: %d.%03d%03d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.altitude/1000L); |
| i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
| LCD_printfxy(0,3,"Alt: %d.%03d m",i1, i2); |
| } |
| break; |
| #endif |
| #ifdef USE_KILLAGREG |
| case 17:// MM3 Kompass |
| LCD_printfxy(0,0,"MM3 Offset"); |
| LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
| LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
| LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
| break; |
| case 18://MM3 Range |
| LCD_printfxy(0,0,"MM3 Range"); |
| LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
| LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
| LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
| break; |
| #endif |
| default: |
| MaxMenuItem = MenuItem - 1; |
| MenuItem = 0; |
| /beta/Code Redesign killagreg/rc.c |
|---|
| 56,7 → 56,6 |
| #include "eeprom.h" |
| #include "main.h" |
| #include "fc.h" |
| #include "uart0.h" |
| //#define ACT_S3D_SUMSIGNAL |
| 99,12 → 98,10 |
| // PD3 can't be used if 2nd UART is activated |
| // because TXD1 is at that port |
| if(CPUType != ATMEGA644P) |
| { |
| DDRD |= (1<<PORTD3); |
| PORTD &= ~(1<<PORTD3); |
| } |
| //DDRD |= (1<<PORTD3); |
| //PORTD &= ~(1<<PORTD3); |
| // Timer/Counter1 Control Register A, B, C |
| // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
| 258,10 → 255,7 |
| // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| if(index == 5) J3HIGH; else J3LOW; |
| if(index == 6) J4HIGH; else J4LOW; |
| if(CPUType != ATMEGA644P) // not used as TXD1 |
| { |
| if(index == 7) J5HIGH; else J5LOW; |
| } |
| //if(index == 7) J5HIGH; else J5LOW; //used as TXD1 |
| index++; // next channel |
| } |
| else // (index >= MAX_RC_CHANNELS) |
| 324,10 → 318,7 |
| // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| if(index == 5) J3HIGH; else J3LOW; |
| if(index == 6) J4HIGH; else J4LOW; |
| if(CPUType != ATMEGA644P) // not used as TXD1 |
| { |
| if(index == 7) J5HIGH; else J5LOW; |
| } |
| //if(index == 7) J5HIGH; else J5LOW; //used as TXD1 |
| } // eof (index < MAX_CHANNELS) |
| } // eof within the PPM frame |
| } // eof old more tolerant version |
| /beta/Code Redesign killagreg/spektrum.c |
|---|
| 1,9 → 1,10 |
| #include <avr/io.h> |
| #include <stdlib.h> |
| #include <avr/interrupt.h> |
| #include "spektrum.h" |
| #include "rc.h" |
| #include "timer0.h" |
| uint8_t SpektrumTimer; |
| /* |
| Code derived from: |
| 73,10 → 74,70 |
| */ |
| #define USART1_BAUD 115200 |
| /****************************************************************/ |
| /* Initialization of the USART1 */ |
| /****************************************************************/ |
| void Spektrum_Init(void) |
| { |
| // USART1 Control and Status Register A, B, C and baud rate register |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * USART1_BAUD) - 1); |
| // disable all interrupts before reconfiguration |
| cli(); |
| // disable RX-Interrupt |
| UCSR1B &= ~(1 << RXCIE1); |
| // disable TX-Interrupt |
| UCSR1B &= ~(1 << TXCIE1); |
| // disable DRE-Interrupt |
| UCSR1B &= ~(1 << UDRIE1); |
| // set direction of RXD1 and TXD1 pins |
| // set RXD1 (PD2) as an input pin |
| PORTD |= (1 << PORTD2); |
| DDRD &= ~(1 << DDD2); |
| // set TXD1 (PD3) as an output pin |
| PORTD |= (1 << PORTD3); |
| DDRD |= (1 << DDD3); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR1H = (uint8_t)(ubrr>>8); |
| UBRR1L = (uint8_t)ubrr; |
| // enable double speed operation |
| UCSR1A |= (1 << U2X1); |
| // enable receiver and transmitter |
| UCSR1B = (1 << TXEN1) | (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 interrupts at the end |
| // enable RX-Interrupt |
| UCSR1B |= (1 << RXCIE1); |
| // enable TX-Interrupt |
| //UCSR1B |= (1 << TXCIE1); |
| // enable DRE interrupt |
| //UCSR1B |= (1 << UDRIE1); |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| 87,7 → 148,7 |
| { |
| static uint8_t Sync = 0, FrameCnt = 0, ByteHigh = 0, ReSync = 1, Frame2 = 0; |
| uint16_t Channel, index; |
| int16_t signal; //tmp; |
| int16_t signal, tmp; |
| int16_t bCheckDelay; |
| /beta/Code Redesign killagreg/spektrum.h |
|---|
| 3,10 → 3,6 |
| #include <inttypes.h> |
| #define USART1_BAUD 115200 |
| extern uint8_t SpektrumTimer; |
| // initalization |
| extern void Spektrum_Init(void); |
| // this function should be called within the UART RX ISR |
| /beta/Code Redesign killagreg/timer0.c |
|---|
| 56,15 → 56,10 |
| #include "analog.h" |
| #include "main.h" |
| #include "fc.h" |
| #ifdef USE_KILLAGREG |
| #include "mm3.h" |
| #endif |
| #include "spektrum.h" |
| #ifdef USE_MK3MAG |
| #include "mk3mag.h" |
| #endif |
| #ifdef USE_RC_SPEKTRUM |
| #include "spektrum.h" |
| #endif |
| volatile uint16_t CountMilliseconds = 0; |
| 76,6 → 71,7 |
| #ifdef USE_NAVICTRL |
| volatile uint8_t SendSPI = 0; |
| #endif |
| volatile uint8_t SpektrumTimer; |
| #define USE_BEEPER |
| 118,7 → 114,7 |
| // Timer/Counter 0 Control Register B |
| // set clock divider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
| // set clock divider for timer 0 to SYSCLOCK/8 = 20MHz / 8 = 2.5MHz |
| // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
| // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
| 155,9 → 151,7 |
| if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
| #endif |
| #ifdef USE_RC_SPEKTRUM |
| if(SpektrumTimer) SpektrumTimer--; |
| #endif |
| if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz) |
| { |
| 202,12 → 196,9 |
| // update compass value if this option is enabled in the settings |
| if(ParamSet.Config0 & (CFG0_COMPASS_ACTIVE|CFG0_GPS_ACTIVE)) |
| { |
| #ifdef USE_KILLAGREG |
| MM3_Update(); // read out mm3 board |
| #endif |
| #ifdef USE_MK3MAG |
| #ifdef USE_MK3MAG |
| MK3MAG_Update(); // read out mk3mag pwm |
| #endif |
| #endif |
| } |
| #endif |
| } |
| /beta/Code Redesign killagreg/timer0.h |
|---|
| 10,6 → 10,7 |
| extern volatile uint16_t BeepTime; |
| #ifdef USE_NAVICTRL |
| extern volatile uint8_t SendSPI; |
| extern volatile uint8_t SpektrumTimer; |
| #endif |
| extern void TIMER0_Init(void); |
| /beta/Code Redesign killagreg/timer2.c |
|---|
| 95,7 → 95,7 |
| // Timer/Counter 2 Control Register B |
| // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
| // Set clock divider for timer 2 to SYSCLOCK/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 |
| /beta/Code Redesign killagreg/twimaster.c |
|---|
| 53,7 → 53,6 |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <util/twi.h> |
| #include "main.h" |
| #include "eeprom.h" |
| #include "twimaster.h" |
| #include "fc.h" |
| 95,7 → 94,7 |
| TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
| // set TWI Bit Rate Register |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
| twi_state = TWI_STATE_MOTOR_TX; |
| motor_write = 0; |
| /beta/Code Redesign killagreg/uart0.c |
|---|
| 65,9 → 65,6 |
| #include "fc.h" |
| #include "rc.h" |
| #include "printf_P.h" |
| #if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
| #include "ubx.h" |
| #endif |
| #ifdef USE_MK3MAG |
| #include "mk3mag.h" |
| #endif |
| 178,7 → 175,7 |
| void USART0_Init (void) |
| { |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
| uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/(8 * USART0_BAUD) - 1); |
| // disable all interrupts before configuration |
| cli(); |
| 289,11 → 286,6 |
| c = UDR0; // catch the received byte |
| #if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
| // If the cpu is not an Atmega644P the ublox module should be conneced to rxd of the 1st uart. |
| if(CPUType != ATMEGA644P) ubx_parser(c); |
| #endif |
| if(rxd_buffer_locked) return; // if rxd buffer is locked immediately return |
| // the rxd buffer is unlocked |
| /beta/Code Redesign killagreg/version.txt |
|---|
| 358,25 → 358,16 |
| - LED-Warn-Blinken nun mit festem Timing und abschaltbar |
| Anpassungen bzgl. V0.77a |
| G.Stobrawa 10.12.2009: |
| G.Stobrawa 13.12.2009: |
| - Code stärker modularisiert und restrukturiert |
| - viele Kommentare zur Erklärug eingefügt |
| - konsequent englische Variablennamen |
| - PPM24 Support für bis zu 12 RC-Kanäle. |
| - Suport for DSL Receiver at 2nd UART |
| - Makefile: EXT=NAVICTRL Unterstützung der SPI Communikation zum Naviboard |
| - Makefile: EXT=MK3MAG Unerstützung des MK3MAG/CMPS03 direkt an FC und Conrad UBLOX Modul |
| - Makefile: EXT=KILLAGREG Unterstützung vom KillagregBoard mit MM3 und Conrad UBLOX Modul |
| - Ausertung des UBX-Protocols an 1. oder 2. Uart |
| - GPS-Hold-Funktion hinzugefügt |
| - GPS-Home-Funktion hinzugefügt (wird beim Motorstart gelernt, und bei Motorenstop wieder gelöscht) |
| - Zusätzliche Punkte im Menü des KopterTool zur Anzeige des GPS-Status und der MM3-Kalibierparameter |
| Weiter Detail siehe Readme.txt im Verzeichnis Hex-Files. |