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Ignore whitespace Rev 1677 → Rev 1678

/beta/Code Redesign killagreg/capacity.c
69,6 → 69,7
Capacity.ActualCurrent = 0;
Capacity.UsedCapacity = 0;
Capacity.ActualPower = 0;
Capacity.MinOfMaxPWM = 0;
update_timer = SetDelay(CAPACITY_UPDATE_INTERVAL);
}

80,7 → 81,7
static uint16_t SubCounter = 0;
static uint16_t CurrentOffset = 0;
static uint32_t SumCurrentOffset = 0;
uint8_t i, NumOfMotors;
uint8_t i, NumOfMotors, MinOfMaxPWM;

if(CheckDelay(update_timer))
{
90,6 → 91,7
Current = 0;
SetSum = 0;
NumOfMotors = 0;
MinOfMaxPWM = 255;
for(i = 0; i < MAX_MOTORS; i++)
{
if(Motor[i].State & MOTOR_STATE_PRESENT_MASK)
97,8 → 99,10
NumOfMotors++;
Current += (int16_t)(Motor[i].Current);
SetSum += (int16_t)(Motor[i].SetPoint);
if(Motor[i].MaxPWM < MinOfMaxPWM) MinOfMaxPWM = Motor[i].MaxPWM;
}
}
Capacity.MinOfMaxPWM = MinOfMaxPWM;

if(SetSum == 0) // if all setpoints are 0
{ // determine offsets of motor currents

/beta/Code Redesign killagreg/capacity.h
8,6 → 8,7
uint16_t ActualCurrent; // in 0.1A Steps
uint16_t UsedCapacity; // in mAh
uint16_t ActualPower; // in 0.1W Steps
uint8_t MinOfMaxPWM; // smallest value of all MaxPWM values
} __attribute__((packed)) Capacity_t;

extern Capacity_t Capacity;

 /beta/Code Redesign killagreg/eeprom.c
 ,7 → 127,7
         ParamSet.Revision = EEPARAM_REVISION;
         if(BoardRelease >= 20)
         {
-                ParamSet.GyroD = 5;
+                ParamSet.GyroD = 10;
                 ParamSet.DriftComp = 0;
                 ParamSet.GyroAccFactor = 27;
                 ParamSet.AngleTurnOverNick = 78;
 ,7 → 234,7
         ParamSet.Revision = EEPARAM_REVISION;
         if(BoardRelease >= 20)
         {
-                ParamSet.GyroD = 5;
+                ParamSet.GyroD = 10;
                 ParamSet.DriftComp = 0;
                 ParamSet.GyroAccFactor = 27;
                 ParamSet.AngleTurnOverNick = 78;
 ,7 → 341,7
         ParamSet.Revision = EEPARAM_REVISION;
         if(BoardRelease >= 20)
         {
-                ParamSet.GyroD = 5;
+                ParamSet.GyroD = 10;
                 ParamSet.DriftComp = 0;
                 ParamSet.GyroAccFactor = 27;         // Value : 1-64
                 ParamSet.AngleTurnOverNick = 78;

 /beta/Code Redesign killagreg/fc.c
 ,7 → 139,7
 uint8_t GyroPFactor, GyroIFactor;       // the PD factors for the attitude control
 uint8_t GyroYawPFactor, GyroYawIFactor; // the PD factors for the yae control
-int16_t Ki = (10300/2) / 33;
+int16_t Ki = 10300 / 33;
 #define Poti1 Poti[0]
 #define Poti2 Poti[1]
 ,7 → 646,7
                 CHK_POTI(FCParam.AxisCouplingYawCorrection,ParamSet.AxisCouplingYawCorrection);
                 CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability);
                 CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl);
-                Ki = (10300/2) / ( FCParam.IFactor + 1 );
+                Ki = 10300 / ( FCParam.IFactor + 1 );
                 CHK_POTI(tmp,ParamSet.OrientationModeControl);
                 if(tmp > 50 && NCDataOkay > 200) CareFree = 1;
 ,7 → 989,7
                 stick_roll = (stick_roll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4;
                 stick_roll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD;
-                if(CareFree) // according to start reference
+                if(CareFree) // according to motor start reference
                 {
                         int16_t nick, roll;
                         //angle = ((540 + ControlHeading * 2 - (YawGyroHeading / GYRO_DEG_FACTOR)) % 360) - 180;
 ,8 → 998,9
                         //sin_h = c_sin_8192(angle)/256; // -32 ... 32
                         //cos_h = c_cos_8192(angle)/256; // -32 ... 32
                         // rotate sticks virtually to global reference
-                        StickNick = ((NCRotate_C * nick) + (NCRotate_C * roll))/(32 / 4);
-                        StickRoll = ((NCRotate_C * roll) - (NCRotate_C * nick))/(32 / 4);
+                        StickNick = ((NCRotate_C * nick) + (NCRotate_S * roll))/(32 / 4);
+                        StickRoll = ((NCRotate_C * roll) - (NCRotate_S * nick))/(32 / 4);
                 }
                 else // body frame (according to  ParamSet.OrientationModeControl * 15 in deg)
                 {
 ,12 → 1859,14
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // all BL-Ctrl connected?
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-        if(MissingMotor)
+        if(MissingMotor || Capacity.MinOfMaxPWM != 255)
         {
                 // if we are in the lift off condition
                 if( (ModelIsFlying > 1) && (ModelIsFlying < 50) && (GasMixFraction > 0) )
-                ModelIsFlying = 1; // keep within lift off condition
-                GasMixFraction = ParamSet.GasMin * STICK_GAIN; // reduce gas to min to avoid lift of
+                {
+                        ModelIsFlying = 1; // keep within lift off condition
+                        GasMixFraction = (ParamSet.GasMin + 10) * STICK_GAIN; // reduce gas to min to avoid lift of
+                }
         }
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 ,7 → 1912,7
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // Limiter
 // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
-        tmp_int1 = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction) / 2)) / (64/2);
+        tmp_int1 = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction) / 2)) / 64;
         LIMIT_MIN_MAX(NickMixFraction, -tmp_int1, tmp_int1);
         LIMIT_MIN_MAX(RollMixFraction, -tmp_int1, tmp_int1);
 ,8 → 1924,8
                 int16_t tmp;
                 if(Mixer.Motor[i][MIX_GAS] > 0) // if gas then mixer
                 {
-                        if(Mixer.Motor[i][MIX_GAS] == 64) tmp = GasMixFraction * 2;
-                        else tmp = ((int32_t)GasMixFraction  * Mixer.Motor[i][MIX_GAS] ) / 32L;
+                        if(Mixer.Motor[i][MIX_GAS] == 64) tmp = GasMixFraction;
+                        else tmp = ((int32_t)GasMixFraction  * Mixer.Motor[i][MIX_GAS] ) / 64L;
                         if(Mixer.Motor[i][MIX_NICK] == 64) tmp += NickMixFraction;
                         else if (Mixer.Motor[i][MIX_NICK] == -64) tmp -= NickMixFraction;
 ,19 → 1935,17
                         else if(Mixer.Motor[i][MIX_ROLL] == -64) tmp -= RollMixFraction;
                         else tmp += ((int32_t)RollMixFraction * Mixer.Motor[i][MIX_ROLL]) / 64L;
-                        if(Mixer.Motor[i][MIX_YAW] ==  64) tmp += 2 * YawMixFraction;
-                        else if(Mixer.Motor[i][MIX_YAW] ==  -64)tmp -= 2 * YawMixFraction;
-                        else tmp += ((int32_t)YawMixFraction  * Mixer.Motor[i][MIX_YAW] ) / 32L;
+                        if(Mixer.Motor[i][MIX_YAW] ==  64) tmp += YawMixFraction;
+                        else if(Mixer.Motor[i][MIX_YAW] ==  -64)tmp -= YawMixFraction;
+                        else tmp += ((int32_t)YawMixFraction  * Mixer.Motor[i][MIX_YAW] ) / 64L;
-                        /*
                         // Smoothing
                         if(tmp > MotorValue[i]) tmp = (MotorValue[i] + tmp) / 2;
                         else   tmp = 2 * tmp - MotorValue[i];
-                        */
-                        LIMIT_MIN_MAX(tmp, 8 * ParamSet.GasMin, 8 * ParamSet.GasMax);
-                        Motor[i].SetPoint = tmp / 8;
-                        Motor[i].SetPointLowerBits = tmp % 8; // remaining bits
+                        LIMIT_MIN_MAX(tmp, 4 * ParamSet.GasMin, 4 * ParamSet.GasMax);
+                        Motor[i].SetPoint = tmp / 4;
+                        Motor[i].SetPointLowerBits = (tmp % 4)<<1; // remaining bits (3 bits total)
                         MotorValue[i] = tmp;
                 }

/beta/Code Redesign killagreg/libfc1284.a
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/beta/Code Redesign killagreg/libfc644.a
Cannot display: file marked as a binary type.
svn:mime-type = application/octet-stream

 /beta/Code Redesign killagreg/makefile
 ,7 → 6,7
 #-------------------------------------------------------------------
 VERSION_MAJOR    =  0
 VERSION_MINOR    =  79
-VERSION_PATCH    =  3
+VERSION_PATCH    =  5
 VERSION_SERIAL_MAJOR = 11       # Serial Protocol Major Version
 VERSION_SERIAL_MINOR = 0        # Serial Protocol Minor Version

 /beta/Code Redesign killagreg/menu.c
 ,7 → 257,7
                         break;
                 case 16:// new BL infos
-                        LCD_printfxy(0,0,"BL Temperature" );
+                        LCD_printfxy(0,0,"BL Temperature", Capacity.MinOfMaxPWM);
                         for(i = 0; i < 3; i++)
                         {
                                 j=i<<2;

 /beta/Code Redesign killagreg/twimaster.c
 ,7 → 267,7
                                 else // old BL version
                                 {
                                         pBuff = (uint8_t*)&(Motor[motor_read].Current);
-                                        if(BLFlags & BLFLAG_READ_VERSION) BuffLen = 2; // Current & MaxPwm
+                                        if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm
                                         else BuffLen = 1; // read Current only
                                 }
                                 if(BuffLen == 1)
 ,7 → 425,8
         uint8_t i;
         if((FCFlags & FCFLAG_MOTOR_RUN) || MotorTest_Active) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running!
-        if((motor == 0) || (motor > MAX_MOTORS)) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);                 // motor does not exist!
+        if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST);           // motor does not exist!
+        if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE);                                                 // motor read any
         if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist!
         if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL!

 /beta/Code Redesign killagreg/twimaster.h
 ,12 → 86,13
 void I2C_Reset(void); // Reset I2C
-#define BLCONFIG_SUCCESS                             0
-#define BLCONFIG_ERR_MOTOR_RUNNING       1
-#define BLCONFIG_ERR_MOTOR_NOT_EXIST     2
-#define BLCONFIG_ERR_HW_NOT_COMPATIBLE   3
-#define BLCONFIG_ERR_SW_NOT_COMPATIBLE   4
-#define BLCONFIG_ERR_CHECKSUM            5
+#define BLCONFIG_SUCCESS                            0
+#define BLCONFIG_ERR_MOTOR_RUNNING      1
+#define BLCONFIG_ERR_MOTOR_NOT_EXIST    2
+#define BLCONFIG_ERR_HW_NOT_COMPATIBLE  3
+#define BLCONFIG_ERR_SW_NOT_COMPATIBLE  4
+#define BLCONFIG_ERR_CHECKSUM           5
+#define BLCONFIG_ERR_READ_NOT_POSSIBLE  6
 uint8_t I2C_WriteBLConfig(uint8_t motor);
 uint8_t I2C_ReadBLConfig(uint8_t motor);

 /beta/Code Redesign killagreg/uart0.c
 ,11 → 608,10
                                 Debug("Reading BL %d", pRxData[0]);
                                 // try to read BL configuration
                                 tempchar2 = I2C_ReadBLConfig(pRxData[0]);
-                                if(tempchar2 == BLCONFIG_SUCCESS)
-                                {
-                                        while(!txd_complete); // wait for previous frame to be sent
-                                        SendOutData('U', FC_ADDRESS, 2, pRxData[0], 1, &BLConfig, sizeof(BLConfig_t));
-                                }
+                                if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1;
+                                else tempchar1 = 0;
+                                while(!txd_complete); // wait for previous frame to be sent
+                                SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t));
                                 break;
                         case 'w': // write BL parameter

 /beta/Code Redesign killagreg/version.txt
 ,12 → 395,19
 .79d H. Buss 31.5.2010
  - Freie Belegung der "Vorne"-Richtung
+.79e H.Buss 05.6.2010
+ - MotorSmooth auf UserParameter5
+.79f H.Buss 07.5.2010
+ - Bug im Lageregler -> zurück auf 10Bit Auflösung
-Anpassungen bzgl. V0.78f
-G.Stobrawa 23.3.2010
+Anpassungen bzgl. V0.79f
+G.Stobrawa 8.6.2010
  - Code stärker modularisiert und restrukturiert
  - viele Kommentare zur Erklärug eingefügt
  - konsequent englische Variablennamen

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Ignore whitespace Rev 1677 → Rev 1678