| /trunk/Spektrum.c |
|---|
| 4,8 → 4,15 |
| #include "Spektrum.h" |
| #include "main.h" |
| //#define RECEIVER_SPEKTRUM_EXP |
| unsigned char SpektrumTimer = 0; |
| #ifdef RECEIVER_SPEKTRUM_EXP |
| unsigned char sexcnt; // Counter for Spektrum-Expander |
| unsigned char sexparity; // Parity Bit for Spektrum-Expander |
| signed char sexdata[7]; // Data for Spektrum-Expander |
| #endif |
| //--------------------------------------------------------------// |
| //--------------------------------------------------------------// |
| void SpektrumBinding(void) |
| 299,13 → 306,17 |
| index++; |
| if(index < 13) |
| { |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) |
| { |
| if(SenderOkay < 200) SenderOkay += 10; |
| else |
| { |
| { |
| // Stabiles Signal |
| #ifdef RECEIVER_SPEKTRUM_EXP |
| if (index == 2) index = 4; // Analog channel reassigment (2 <-> 4) for logical numbering (1,2,3,4) |
| else if (index == 4) index = 2; |
| #endif |
| if(abs(signal - PPM_in[index]) < 6) |
| { |
| if(SenderOkay < 200) SenderOkay += 10; |
| else |
| { |
| SenderOkay = 200; |
| TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
| } |
| 313,11 → 324,57 |
| 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; |
| #ifdef RECEIVER_SPEKTRUM_EXP |
| if(index == 6) // FLIGHT-MODE - The channel used for our data uplink |
| { |
| if (signal > 100) // SYNC received |
| { |
| sexcnt = 0; // Reset bitcounter |
| sexparity = 0; // Reset parity bit |
| } |
| if (signal < 10) |
| { |
| sexcnt++; // Increase counter only for non-sync bits |
| sexdata[sexcnt] = -113; // Bit = 0 -> value = -113 (min) |
| } |
| if (sexcnt == 7) sexcnt = 0; // Overflow protection |
| if (signal < -100) |
| { |
| sexdata[sexcnt] = 114; // Bit = 1 -> value = 114 (max) |
| if (sexcnt < 6) sexparity = ~sexparity; // Bit = 1 -> Invert parity bit (without itself) |
| } |
| if (sexcnt == 6) // Wait for complete frame |
| { |
| if ((sexparity != 0 && sexdata[6] == -113) || (sexparity == 0 && sexdata[6] == 114)) // Parity check |
| { |
| if (sexdata[1] == 114 && sexdata[2] == -113) PPM_in[5] = -113;// Reconstruct tripole Flight-Mode value (CH5) |
| if (sexdata[1] == -113 && sexdata[2] == -113) PPM_in[5] = 0; // Reconstruct tripole Flight-Mode value (CH5) |
| if (sexdata[1] == -113 && sexdata[2] == 114) PPM_in[5] = 114; // Reconstruct tripole Flight-Mode value (CH5) |
| PPM_in[6] = sexdata[3]; // Elevator (CH6) |
| PPM_in[9] = sexdata[4]; // Aileron (CH9) |
| PPM_in[10] = sexdata[5]; // Rudder (CH10) |
| } |
| } |
| } |
| #endif |
| if(SenderOkay >= 180) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| #ifdef RECEIVER_SPEKTRUM_EXP |
| if (index < 5 ) PPM_in[index] = tmp; // Update normal potis (CH1-4) |
| if (index == 5) PPM_in[7] = signal; // Gear (CH7) |
| if (index == 7) PPM_in[8] = signal; // AUX2 (CH8) |
| #else |
| PPM_in[index] = tmp; |
| #endif |
| } |
| else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
| else if(index > 17) ReSync = 1; // hier stimmt was nicht: neu synchronisieren |
| } |
| else |
| { |
| /trunk/capacity.c |
|---|
| 56,8 → 56,9 |
| #include "timer0.h" |
| #define CAPACITY_UPDATE_INTERVAL 10 // 10 ms |
| #define OFFSET_CURRENT 4 // always calculate with a Current of 0,4A |
| unsigned char OwnConsumptionCurrent; // always calculate with a Current of 0,xA |
| // global varialbles |
| unsigned short update_timer = 0; |
| Capacity_t Capacity; |
| 75,7 → 76,7 |
| // called in main loop at a regular interval |
| void Capacity_Update(void) |
| { |
| unsigned short Current, SetSum; // max value will be 255 * 12 = 3060 |
| unsigned short Current; // max value will be 255 * 12 = 3060 |
| static unsigned short SubCounter = 0; |
| static unsigned short CurrentOffset = 0; |
| static unsigned long SumCurrentOffset = 0; |
| 84,47 → 85,32 |
| if(CheckDelay(update_timer)) |
| { |
| update_timer += CAPACITY_UPDATE_INTERVAL; // do not use SetDelay to avoid timing leaks |
| // determine sum of all present BL currents and setpoints |
| Current = 0; |
| SetSum = 0; |
| for(i = 0; i < MAX_MOTORS; i++) |
| { |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| Current += (int16_t)(Motor[i].Current); |
| SetSum += (int16_t)(Motor[i].SetPoint); |
| } |
| } |
| if(SetSum != 0) // if one of the present motors has a setpoint > 0 |
| if(MotorenEin) // if one of the present motors has a setpoint > 0 |
| { |
| if(Current > CurrentOffset) Capacity.ActualCurrent = Current - CurrentOffset; |
| else Capacity.ActualCurrent = 0; |
| // update used capacity |
| SubCounter += Capacity.ActualCurrent; |
| /* |
| // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
| // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
| // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
| #define SUB_COUNTER_LIMIT (36000 / CAPACITY_UPDATE_INTERVAL) |
| if(SubCounter > SUB_COUNTER_LIMIT) |
| { |
| Capacity.UsedCapacity++; // we have one mAh more |
| SubCounter -= SUB_COUNTER_LIMIT; // keep the remaining sub part |
| } |
| */ |
| Capacity.ActualCurrent += OwnConsumptionCurrent; |
| // SubCounter += Capacity.ActualCurrent; |
| } |
| else // motors are stopped |
| { // determine offsets of motor currents |
| Capacity.ActualCurrent = 0; |
| Capacity.ActualCurrent = STATIC_CURRENT; |
| #define CURRENT_AVERAGE 256L // 256 * 10 ms = 2.56s average time |
| CurrentOffset = (unsigned short)(SumCurrentOffset/CURRENT_AVERAGE); |
| SumCurrentOffset -= CurrentOffset; |
| SumCurrentOffset += Current; |
| } |
| SubCounter += OFFSET_CURRENT; |
| // update used capacity |
| SubCounter += Capacity.ActualCurrent; |
| // 100mA * 1ms * CAPACITY_UPDATE_INTERVAL = 1 mA * 100 ms * CAPACITY_UPDATE_INTERVAL |
| // = 1mA * 0.1s * CAPACITY_UPDATE_INTERVAL = 1mA * 1min / (600 / CAPACITY_UPDATE_INTERVAL) |
| // = 1mAh / (36000 / CAPACITY_UPDATE_INTERVAL) |
| /trunk/capacity.h |
|---|
| 1,6 → 1,9 |
| #ifndef _CAPACITY_H |
| #define _CAPACITY_H |
| #define STATIC_CURRENT 4 // always calculate with a Current of 0,xA |
| extern unsigned char OwnConsumptionCurrent; // always calculate with a Current of 0,xA |
| typedef struct |
| { |
| unsigned short ActualCurrent; // in 0.1A Steps |
| 12,6 → 15,5 |
| void Capacity_Init(void); |
| void Capacity_Update(void); |
| #endif //_CAPACITY_H |
| /trunk/libfc.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /trunk/main.c |
|---|
| 231,9 → 231,8 |
| eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
| } |
| printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
| OwnConsumptionCurrent = 2 * RequiredMotors + STATIC_CURRENT; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Check connected BL-Ctrls |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |