| /trunk/libfc1284.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /trunk/libfc644.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /trunk/main.c |
|---|
| 424,7 → 424,9 |
| if(++second == 49) |
| { |
| second = 0; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(ShowSettingNameTime) ShowSettingNameTime--; |
| #endif |
| if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
| else timer2 = 1450; // 0,5 Minuten aufrunden |
| if(modell_fliegt < 1024) |
| /trunk/makefile |
|---|
| 6,7 → 6,7 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 91 |
| VERSION_PATCH = 3 |
| VERSION_PATCH = 5 |
| VERSION_SERIAL_MAJOR = 11 # Serial Protocol |
| VERSION_SERIAL_MINOR = 0 # Serial Protocol |
| NC_SPI_COMPATIBLE = 55 # Navi-Kompatibilität |
| /trunk/spi.c |
|---|
| 186,8 → 186,9 |
| ToNaviCtrl.Param.Byte[8] = Motor[motorindex].MaxPWM; |
| ToNaviCtrl.Param.Byte[9] = Motor[motorindex].State; |
| ToNaviCtrl.Param.Byte[10] = Motor[motorindex].Temperature; |
| ToNaviCtrl.Param.Byte[11] = Motor[motorindex++].Current; |
| motorindex %= 12; |
| ToNaviCtrl.Param.Byte[11] = Motor[motorindex].Current; |
| if(Mixer.Motor[++motorindex][0] == 0) // next motor is not used ? |
| while(Mixer.Motor[motorindex][0] == 0 && motorindex) motorindex = (motorindex + 1) % 12; |
| break; |
| case SPI_FCCMD_PARAMETER1: |
| ToNaviCtrl.Param.Byte[0] = (unsigned char) BattLowVoltageWarning; //0.1V |
| /trunk/timer0.c |
|---|
| 60,6 → 60,7 |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| volatile unsigned char SendSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
| unsigned char JustMK3MagConnected = 0; |
| uint16_t RemainingPulse = 0; |
| volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
| volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
| 85,7 → 86,7 |
| ISR(TIMER0_OVF_vect) // 9,7kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0, compass_active = 0; |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| if(SendSPI) SendSPI--; |
| if(SpektrumTimer) SpektrumTimer--; |
| 97,7 → 98,7 |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| if(!(PINC & 0x10)) compass_active = 1; |
| if(!(PINC & 0x10)) JustMK3MagConnected = 1; |
| if(beeptime) |
| { |
| 129,11 → 130,11 |
| } |
| #endif |
| } |
| if(compass_active && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
| if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| if(++cntKompass > 1000) compass_active = 0; |
| if(++cntKompass > 1000) JustMK3MagConnected = 0; |
| } |
| else |
| { |
| /trunk/timer0.h |
|---|
| 22,3 → 22,4 |
| extern volatile int16_t ServoNickValue; |
| extern volatile int16_t ServoRollValue; |
| extern signed int NickServoValue; |
| extern unsigned char JustMK3MagConnected; |
| /trunk/uart.c |
|---|
| 733,16 → 733,6 |
| SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternControl, sizeof(ExternControl)); |
| GetExternalControl = 0; |
| } |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| Kompass_Timer = SetDelay(99); |
| } |
| if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| CopyDebugValues(); |
| 773,13 → 763,22 |
| SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| GetPPMChannelAnforderung = 0; |
| } |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| WinkelOut.Winkel[0] = (int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.Winkel[1] = (int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| if(!NaviDataOkay) Kompass_Timer = SetDelay(99); |
| else Kompass_Timer = SetDelay(999); |
| } |
| #ifdef DEBUG // only include functions if DEBUG is defined |
| if(SendDebugOutput && UebertragungAbgeschlossen) |
| { |
| 787,7 → 786,6 |
| SendDebugOutput = 0; |
| } |
| #endif |
| } |