/branches/Nick666/V0.67g MicroMag3/COPYING |
---|
0,0 → 1,674 |
GNU GENERAL PUBLIC LICENSE |
Version 3, 29 June 2007 |
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
Everyone is permitted to copy and distribute verbatim copies |
of this license document, but changing it is not allowed. |
Preamble |
The GNU General Public License is a free, copyleft license for |
software and other kinds of works. |
The licenses for most software and other practical works are designed |
to take away your freedom to share and change the works. By contrast, |
the GNU General Public License is intended to guarantee your freedom to |
share and change all versions of a program--to make sure it remains free |
software for all its users. We, the Free Software Foundation, use the |
GNU General Public License for most of our software; it applies also to |
any other work released this way by its authors. You can apply it to |
your programs, too. |
When we speak of free software, we are referring to freedom, not |
price. Our General Public Licenses are designed to make sure that you |
have the freedom to distribute copies of free software (and charge for |
them if you wish), that you receive source code or can get it if you |
want it, that you can change the software or use pieces of it in new |
free programs, and that you know you can do these things. |
To protect your rights, we need to prevent others from denying you |
these rights or asking you to surrender the rights. Therefore, you have |
certain responsibilities if you distribute copies of the software, or if |
you modify it: responsibilities to respect the freedom of others. |
For example, if you distribute copies of such a program, whether |
gratis or for a fee, you must pass on to the recipients the same |
freedoms that you received. You must make sure that they, too, receive |
or can get the source code. And you must show them these terms so they |
know their rights. |
Developers that use the GNU GPL protect your rights with two steps: |
(1) assert copyright on the software, and (2) offer you this License |
giving you legal permission to copy, distribute and/or modify it. |
For the developers' and authors' protection, the GPL clearly explains |
that there is no warranty for this free software. For both users' and |
authors' sake, the GPL requires that modified versions be marked as |
changed, so that their problems will not be attributed erroneously to |
authors of previous versions. |
Some devices are designed to deny users access to install or run |
modified versions of the software inside them, although the manufacturer |
can do so. This is fundamentally incompatible with the aim of |
protecting users' freedom to change the software. The systematic |
pattern of such abuse occurs in the area of products for individuals to |
use, which is precisely where it is most unacceptable. Therefore, we |
have designed this version of the GPL to prohibit the practice for those |
products. If such problems arise substantially in other domains, we |
stand ready to extend this provision to those domains in future versions |
of the GPL, as needed to protect the freedom of users. |
Finally, every program is threatened constantly by software patents. |
States should not allow patents to restrict development and use of |
software on general-purpose computers, but in those that do, we wish to |
avoid the special danger that patents applied to a free program could |
make it effectively proprietary. To prevent this, the GPL assures that |
patents cannot be used to render the program non-free. |
The precise terms and conditions for copying, distribution and |
modification follow. |
TERMS AND CONDITIONS |
0. Definitions. |
"This License" refers to version 3 of the GNU General Public License. |
"Copyright" also means copyright-like laws that apply to other kinds of |
works, such as semiconductor masks. |
"The Program" refers to any copyrightable work licensed under this |
License. Each licensee is addressed as "you". "Licensees" and |
"recipients" may be individuals or organizations. |
To "modify" a work means to copy from or adapt all or part of the work |
in a fashion requiring copyright permission, other than the making of an |
exact copy. The resulting work is called a "modified version" of the |
earlier work or a work "based on" the earlier work. |
A "covered work" means either the unmodified Program or a work based |
on the Program. |
To "propagate" a work means to do anything with it that, without |
permission, would make you directly or secondarily liable for |
infringement under applicable copyright law, except executing it on a |
computer or modifying a private copy. Propagation includes copying, |
distribution (with or without modification), making available to the |
public, and in some countries other activities as well. |
To "convey" a work means any kind of propagation that enables other |
parties to make or receive copies. Mere interaction with a user through |
a computer network, with no transfer of a copy, is not conveying. |
An interactive user interface displays "Appropriate Legal Notices" |
to the extent that it includes a convenient and prominently visible |
feature that (1) displays an appropriate copyright notice, and (2) |
tells the user that there is no warranty for the work (except to the |
extent that warranties are provided), that licensees may convey the |
work under this License, and how to view a copy of this License. If |
the interface presents a list of user commands or options, such as a |
menu, a prominent item in the list meets this criterion. |
1. Source Code. |
The "source code" for a work means the preferred form of the work |
for making modifications to it. "Object code" means any non-source |
form of a work. |
A "Standard Interface" means an interface that either is an official |
standard defined by a recognized standards body, or, in the case of |
interfaces specified for a particular programming language, one that |
is widely used among developers working in that language. |
The "System Libraries" of an executable work include anything, other |
than the work as a whole, that (a) is included in the normal form of |
packaging a Major Component, but which is not part of that Major |
Component, and (b) serves only to enable use of the work with that |
Major Component, or to implement a Standard Interface for which an |
implementation is available to the public in source code form. A |
"Major Component", in this context, means a major essential component |
(kernel, window system, and so on) of the specific operating system |
(if any) on which the executable work runs, or a compiler used to |
produce the work, or an object code interpreter used to run it. |
The "Corresponding Source" for a work in object code form means all |
the source code needed to generate, install, and (for an executable |
work) run the object code and to modify the work, including scripts to |
control those activities. However, it does not include the work's |
System Libraries, or general-purpose tools or generally available free |
programs which are used unmodified in performing those activities but |
which are not part of the work. For example, Corresponding Source |
includes interface definition files associated with source files for |
the work, and the source code for shared libraries and dynamically |
linked subprograms that the work is specifically designed to require, |
such as by intimate data communication or control flow between those |
subprograms and other parts of the work. |
The Corresponding Source need not include anything that users |
can regenerate automatically from other parts of the Corresponding |
Source. |
The Corresponding Source for a work in source code form is that |
same work. |
2. Basic Permissions. |
All rights granted under this License are granted for the term of |
copyright on the Program, and are irrevocable provided the stated |
conditions are met. This License explicitly affirms your unlimited |
permission to run the unmodified Program. The output from running a |
covered work is covered by this License only if the output, given its |
content, constitutes a covered work. This License acknowledges your |
rights of fair use or other equivalent, as provided by copyright law. |
You may make, run and propagate covered works that you do not |
convey, without conditions so long as your license otherwise remains |
in force. You may convey covered works to others for the sole purpose |
of having them make modifications exclusively for you, or provide you |
with facilities for running those works, provided that you comply with |
the terms of this License in conveying all material for which you do |
not control copyright. Those thus making or running the covered works |
for you must do so exclusively on your behalf, under your direction |
and control, on terms that prohibit them from making any copies of |
your copyrighted material outside their relationship with you. |
Conveying under any other circumstances is permitted solely under |
the conditions stated below. Sublicensing is not allowed; section 10 |
makes it unnecessary. |
3. Protecting Users' Legal Rights From Anti-Circumvention Law. |
No covered work shall be deemed part of an effective technological |
measure under any applicable law fulfilling obligations under article |
11 of the WIPO copyright treaty adopted on 20 December 1996, or |
similar laws prohibiting or restricting circumvention of such |
measures. |
When you convey a covered work, you waive any legal power to forbid |
circumvention of technological measures to the extent such circumvention |
is effected by exercising rights under this License with respect to |
the covered work, and you disclaim any intention to limit operation or |
modification of the work as a means of enforcing, against the work's |
users, your or third parties' legal rights to forbid circumvention of |
technological measures. |
4. Conveying Verbatim Copies. |
You may convey verbatim copies of the Program's source code as you |
receive it, in any medium, provided that you conspicuously and |
appropriately publish on each copy an appropriate copyright notice; |
keep intact all notices stating that this License and any |
non-permissive terms added in accord with section 7 apply to the code; |
keep intact all notices of the absence of any warranty; and give all |
recipients a copy of this License along with the Program. |
You may charge any price or no price for each copy that you convey, |
and you may offer support or warranty protection for a fee. |
5. Conveying Modified Source Versions. |
You may convey a work based on the Program, or the modifications to |
produce it from the Program, in the form of source code under the |
terms of section 4, provided that you also meet all of these conditions: |
a) The work must carry prominent notices stating that you modified |
it, and giving a relevant date. |
b) The work must carry prominent notices stating that it is |
released under this License and any conditions added under section |
7. This requirement modifies the requirement in section 4 to |
"keep intact all notices". |
c) You must license the entire work, as a whole, under this |
License to anyone who comes into possession of a copy. This |
License will therefore apply, along with any applicable section 7 |
additional terms, to the whole of the work, and all its parts, |
regardless of how they are packaged. This License gives no |
permission to license the work in any other way, but it does not |
invalidate such permission if you have separately received it. |
d) If the work has interactive user interfaces, each must display |
Appropriate Legal Notices; however, if the Program has interactive |
interfaces that do not display Appropriate Legal Notices, your |
work need not make them do so. |
A compilation of a covered work with other separate and independent |
works, which are not by their nature extensions of the covered work, |
and which are not combined with it such as to form a larger program, |
in or on a volume of a storage or distribution medium, is called an |
"aggregate" if the compilation and its resulting copyright are not |
used to limit the access or legal rights of the compilation's users |
beyond what the individual works permit. Inclusion of a covered work |
in an aggregate does not cause this License to apply to the other |
parts of the aggregate. |
6. Conveying Non-Source Forms. |
You may convey a covered work in object code form under the terms |
of sections 4 and 5, provided that you also convey the |
machine-readable Corresponding Source under the terms of this License, |
in one of these ways: |
a) Convey the object code in, or embodied in, a physical product |
(including a physical distribution medium), accompanied by the |
Corresponding Source fixed on a durable physical medium |
customarily used for software interchange. |
b) Convey the object code in, or embodied in, a physical product |
(including a physical distribution medium), accompanied by a |
written offer, valid for at least three years and valid for as |
long as you offer spare parts or customer support for that product |
model, to give anyone who possesses the object code either (1) a |
copy of the Corresponding Source for all the software in the |
product that is covered by this License, on a durable physical |
medium customarily used for software interchange, for a price no |
more than your reasonable cost of physically performing this |
conveying of source, or (2) access to copy the |
Corresponding Source from a network server at no charge. |
c) Convey individual copies of the object code with a copy of the |
written offer to provide the Corresponding Source. This |
alternative is allowed only occasionally and noncommercially, and |
only if you received the object code with such an offer, in accord |
with subsection 6b. |
d) Convey the object code by offering access from a designated |
place (gratis or for a charge), and offer equivalent access to the |
Corresponding Source in the same way through the same place at no |
further charge. You need not require recipients to copy the |
Corresponding Source along with the object code. If the place to |
copy the object code is a network server, the Corresponding Source |
may be on a different server (operated by you or a third party) |
that supports equivalent copying facilities, provided you maintain |
clear directions next to the object code saying where to find the |
Corresponding Source. Regardless of what server hosts the |
Corresponding Source, you remain obligated to ensure that it is |
available for as long as needed to satisfy these requirements. |
e) Convey the object code using peer-to-peer transmission, provided |
you inform other peers where the object code and Corresponding |
Source of the work are being offered to the general public at no |
charge under subsection 6d. |
A separable portion of the object code, whose source code is excluded |
from the Corresponding Source as a System Library, need not be |
included in conveying the object code work. |
A "User Product" is either (1) a "consumer product", which means any |
tangible personal property which is normally used for personal, family, |
or household purposes, or (2) anything designed or sold for incorporation |
into a dwelling. In determining whether a product is a consumer product, |
doubtful cases shall be resolved in favor of coverage. For a particular |
product received by a particular user, "normally used" refers to a |
typical or common use of that class of product, regardless of the status |
of the particular user or of the way in which the particular user |
actually uses, or expects or is expected to use, the product. A product |
is a consumer product regardless of whether the product has substantial |
commercial, industrial or non-consumer uses, unless such uses represent |
the only significant mode of use of the product. |
"Installation Information" for a User Product means any methods, |
procedures, authorization keys, or other information required to install |
and execute modified versions of a covered work in that User Product from |
a modified version of its Corresponding Source. The information must |
suffice to ensure that the continued functioning of the modified object |
code is in no case prevented or interfered with solely because |
modification has been made. |
If you convey an object code work under this section in, or with, or |
specifically for use in, a User Product, and the conveying occurs as |
part of a transaction in which the right of possession and use of the |
User Product is transferred to the recipient in perpetuity or for a |
fixed term (regardless of how the transaction is characterized), the |
Corresponding Source conveyed under this section must be accompanied |
by the Installation Information. But this requirement does not apply |
if neither you nor any third party retains the ability to install |
modified object code on the User Product (for example, the work has |
been installed in ROM). |
The requirement to provide Installation Information does not include a |
requirement to continue to provide support service, warranty, or updates |
for a work that has been modified or installed by the recipient, or for |
the User Product in which it has been modified or installed. Access to a |
network may be denied when the modification itself materially and |
adversely affects the operation of the network or violates the rules and |
protocols for communication across the network. |
Corresponding Source conveyed, and Installation Information provided, |
in accord with this section must be in a format that is publicly |
documented (and with an implementation available to the public in |
source code form), and must require no special password or key for |
unpacking, reading or copying. |
7. Additional Terms. |
"Additional permissions" are terms that supplement the terms of this |
License by making exceptions from one or more of its conditions. |
Additional permissions that are applicable to the entire Program shall |
be treated as though they were included in this License, to the extent |
that they are valid under applicable law. If additional permissions |
apply only to part of the Program, that part may be used separately |
under those permissions, but the entire Program remains governed by |
this License without regard to the additional permissions. |
When you convey a copy of a covered work, you may at your option |
remove any additional permissions from that copy, or from any part of |
it. (Additional permissions may be written to require their own |
removal in certain cases when you modify the work.) You may place |
additional permissions on material, added by you to a covered work, |
for which you have or can give appropriate copyright permission. |
Notwithstanding any other provision of this License, for material you |
add to a covered work, you may (if authorized by the copyright holders of |
that material) supplement the terms of this License with terms: |
a) Disclaiming warranty or limiting liability differently from the |
terms of sections 15 and 16 of this License; or |
b) Requiring preservation of specified reasonable legal notices or |
author attributions in that material or in the Appropriate Legal |
Notices displayed by works containing it; or |
c) Prohibiting misrepresentation of the origin of that material, or |
requiring that modified versions of such material be marked in |
reasonable ways as different from the original version; or |
d) Limiting the use for publicity purposes of names of licensors or |
authors of the material; or |
e) Declining to grant rights under trademark law for use of some |
trade names, trademarks, or service marks; or |
f) Requiring indemnification of licensors and authors of that |
material by anyone who conveys the material (or modified versions of |
it) with contractual assumptions of liability to the recipient, for |
any liability that these contractual assumptions directly impose on |
those licensors and authors. |
All other non-permissive additional terms are considered "further |
restrictions" within the meaning of section 10. If the Program as you |
received it, or any part of it, contains a notice stating that it is |
governed by this License along with a term that is a further |
restriction, you may remove that term. If a license document contains |
a further restriction but permits relicensing or conveying under this |
License, you may add to a covered work material governed by the terms |
of that license document, provided that the further restriction does |
not survive such relicensing or conveying. |
If you add terms to a covered work in accord with this section, you |
must place, in the relevant source files, a statement of the |
additional terms that apply to those files, or a notice indicating |
where to find the applicable terms. |
Additional terms, permissive or non-permissive, may be stated in the |
form of a separately written license, or stated as exceptions; |
the above requirements apply either way. |
8. Termination. |
You may not propagate or modify a covered work except as expressly |
provided under this License. Any attempt otherwise to propagate or |
modify it is void, and will automatically terminate your rights under |
this License (including any patent licenses granted under the third |
paragraph of section 11). |
However, if you cease all violation of this License, then your |
license from a particular copyright holder is reinstated (a) |
provisionally, unless and until the copyright holder explicitly and |
finally terminates your license, and (b) permanently, if the copyright |
holder fails to notify you of the violation by some reasonable means |
prior to 60 days after the cessation. |
Moreover, your license from a particular copyright holder is |
reinstated permanently if the copyright holder notifies you of the |
violation by some reasonable means, this is the first time you have |
received notice of violation of this License (for any work) from that |
copyright holder, and you cure the violation prior to 30 days after |
your receipt of the notice. |
Termination of your rights under this section does not terminate the |
licenses of parties who have received copies or rights from you under |
this License. If your rights have been terminated and not permanently |
reinstated, you do not qualify to receive new licenses for the same |
material under section 10. |
9. Acceptance Not Required for Having Copies. |
You are not required to accept this License in order to receive or |
run a copy of the Program. Ancillary propagation of a covered work |
occurring solely as a consequence of using peer-to-peer transmission |
to receive a copy likewise does not require acceptance. However, |
nothing other than this License grants you permission to propagate or |
modify any covered work. These actions infringe copyright if you do |
not accept this License. Therefore, by modifying or propagating a |
covered work, you indicate your acceptance of this License to do so. |
10. Automatic Licensing of Downstream Recipients. |
Each time you convey a covered work, the recipient automatically |
receives a license from the original licensors, to run, modify and |
propagate that work, subject to this License. You are not responsible |
for enforcing compliance by third parties with this License. |
An "entity transaction" is a transaction transferring control of an |
organization, or substantially all assets of one, or subdividing an |
organization, or merging organizations. If propagation of a covered |
work results from an entity transaction, each party to that |
transaction who receives a copy of the work also receives whatever |
licenses to the work the party's predecessor in interest had or could |
give under the previous paragraph, plus a right to possession of the |
Corresponding Source of the work from the predecessor in interest, if |
the predecessor has it or can get it with reasonable efforts. |
You may not impose any further restrictions on the exercise of the |
rights granted or affirmed under this License. For example, you may |
not impose a license fee, royalty, or other charge for exercise of |
rights granted under this License, and you may not initiate litigation |
(including a cross-claim or counterclaim in a lawsuit) alleging that |
any patent claim is infringed by making, using, selling, offering for |
sale, or importing the Program or any portion of it. |
11. Patents. |
A "contributor" is a copyright holder who authorizes use under this |
License of the Program or a work on which the Program is based. The |
work thus licensed is called the contributor's "contributor version". |
A contributor's "essential patent claims" are all patent claims |
owned or controlled by the contributor, whether already acquired or |
hereafter acquired, that would be infringed by some manner, permitted |
by this License, of making, using, or selling its contributor version, |
but do not include claims that would be infringed only as a |
consequence of further modification of the contributor version. For |
purposes of this definition, "control" includes the right to grant |
patent sublicenses in a manner consistent with the requirements of |
this License. |
Each contributor grants you a non-exclusive, worldwide, royalty-free |
patent license under the contributor's essential patent claims, to |
make, use, sell, offer for sale, import and otherwise run, modify and |
propagate the contents of its contributor version. |
In the following three paragraphs, a "patent license" is any express |
agreement or commitment, however denominated, not to enforce a patent |
(such as an express permission to practice a patent or covenant not to |
sue for patent infringement). To "grant" such a patent license to a |
party means to make such an agreement or commitment not to enforce a |
patent against the party. |
If you convey a covered work, knowingly relying on a patent license, |
and the Corresponding Source of the work is not available for anyone |
to copy, free of charge and under the terms of this License, through a |
publicly available network server or other readily accessible means, |
then you must either (1) cause the Corresponding Source to be so |
available, or (2) arrange to deprive yourself of the benefit of the |
patent license for this particular work, or (3) arrange, in a manner |
consistent with the requirements of this License, to extend the patent |
license to downstream recipients. "Knowingly relying" means you have |
actual knowledge that, but for the patent license, your conveying the |
covered work in a country, or your recipient's use of the covered work |
in a country, would infringe one or more identifiable patents in that |
country that you have reason to believe are valid. |
If, pursuant to or in connection with a single transaction or |
arrangement, you convey, or propagate by procuring conveyance of, a |
covered work, and grant a patent license to some of the parties |
receiving the covered work authorizing them to use, propagate, modify |
or convey a specific copy of the covered work, then the patent license |
you grant is automatically extended to all recipients of the covered |
work and works based on it. |
A patent license is "discriminatory" if it does not include within |
the scope of its coverage, prohibits the exercise of, or is |
conditioned on the non-exercise of one or more of the rights that are |
specifically granted under this License. You may not convey a covered |
work if you are a party to an arrangement with a third party that is |
in the business of distributing software, under which you make payment |
to the third party based on the extent of your activity of conveying |
the work, and under which the third party grants, to any of the |
parties who would receive the covered work from you, a discriminatory |
patent license (a) in connection with copies of the covered work |
conveyed by you (or copies made from those copies), or (b) primarily |
for and in connection with specific products or compilations that |
contain the covered work, unless you entered into that arrangement, |
or that patent license was granted, prior to 28 March 2007. |
Nothing in this License shall be construed as excluding or limiting |
any implied license or other defenses to infringement that may |
otherwise be available to you under applicable patent law. |
12. No Surrender of Others' Freedom. |
If conditions are imposed on you (whether by court order, agreement or |
otherwise) that contradict the conditions of this License, they do not |
excuse you from the conditions of this License. If you cannot convey a |
covered work so as to satisfy simultaneously your obligations under this |
License and any other pertinent obligations, then as a consequence you may |
not convey it at all. For example, if you agree to terms that obligate you |
to collect a royalty for further conveying from those to whom you convey |
the Program, the only way you could satisfy both those terms and this |
License would be to refrain entirely from conveying the Program. |
13. Use with the GNU Affero General Public License. |
Notwithstanding any other provision of this License, you have |
permission to link or combine any covered work with a work licensed |
under version 3 of the GNU Affero General Public License into a single |
combined work, and to convey the resulting work. The terms of this |
License will continue to apply to the part which is the covered work, |
but the special requirements of the GNU Affero General Public License, |
section 13, concerning interaction through a network will apply to the |
combination as such. |
14. Revised Versions of this License. |
The Free Software Foundation may publish revised and/or new versions of |
the GNU General Public License from time to time. Such new versions will |
be similar in spirit to the present version, but may differ in detail to |
address new problems or concerns. |
Each version is given a distinguishing version number. If the |
Program specifies that a certain numbered version of the GNU General |
Public License "or any later version" applies to it, you have the |
option of following the terms and conditions either of that numbered |
version or of any later version published by the Free Software |
Foundation. If the Program does not specify a version number of the |
GNU General Public License, you may choose any version ever published |
by the Free Software Foundation. |
If the Program specifies that a proxy can decide which future |
versions of the GNU General Public License can be used, that proxy's |
public statement of acceptance of a version permanently authorizes you |
to choose that version for the Program. |
Later license versions may give you additional or different |
permissions. However, no additional obligations are imposed on any |
author or copyright holder as a result of your choosing to follow a |
later version. |
15. Disclaimer of Warranty. |
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY |
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT |
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY |
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, |
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM |
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF |
ALL NECESSARY SERVICING, REPAIR OR CORRECTION. |
16. Limitation of Liability. |
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING |
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS |
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY |
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE |
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF |
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD |
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), |
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF |
SUCH DAMAGES. |
17. Interpretation of Sections 15 and 16. |
If the disclaimer of warranty and limitation of liability provided |
above cannot be given local legal effect according to their terms, |
reviewing courts shall apply local law that most closely approximates |
an absolute waiver of all civil liability in connection with the |
Program, unless a warranty or assumption of liability accompanies a |
copy of the Program in return for a fee. |
END OF TERMS AND CONDITIONS |
How to Apply These Terms to Your New Programs |
If you develop a new program, and you want it to be of the greatest |
possible use to the public, the best way to achieve this is to make it |
free software which everyone can redistribute and change under these terms. |
To do so, attach the following notices to the program. It is safest |
to attach them to the start of each source file to most effectively |
state the exclusion of warranty; and each file should have at least |
the "copyright" line and a pointer to where the full notice is found. |
<one line to give the program's name and a brief idea of what it does.> |
Copyright (C) <year> <name of author> |
This program is free software: you can redistribute it and/or modify |
it under the terms of the GNU General Public License as published by |
the Free Software Foundation, either version 3 of the License, or |
(at your option) any later version. |
This program is distributed in the hope that it will be useful, |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
GNU General Public License for more details. |
You should have received a copy of the GNU General Public License |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
Also add information on how to contact you by electronic and paper mail. |
If the program does terminal interaction, make it output a short |
notice like this when it starts in an interactive mode: |
<program> Copyright (C) <year> <name of author> |
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. |
This is free software, and you are welcome to redistribute it |
under certain conditions; type `show c' for details. |
The hypothetical commands `show w' and `show c' should show the appropriate |
parts of the General Public License. Of course, your program's commands |
might be different; for a GUI interface, you would use an "about box". |
You should also get your employer (if you work as a programmer) or school, |
if any, to sign a "copyright disclaimer" for the program, if necessary. |
For more information on this, and how to apply and follow the GNU GPL, see |
<http://www.gnu.org/licenses/>. |
The GNU General Public License does not permit incorporating your program |
into proprietary programs. If your program is a subroutine library, you |
may consider it more useful to permit linking proprietary applications with |
the library. If this is what you want to do, use the GNU Lesser General |
Public License instead of this License. But first, please read |
<http://www.gnu.org/philosophy/why-not-lgpl.html>. |
/branches/Nick666/V0.67g MicroMag3/COPYING.LESSER |
---|
0,0 → 1,165 |
GNU LESSER GENERAL PUBLIC LICENSE |
Version 3, 29 June 2007 |
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
Everyone is permitted to copy and distribute verbatim copies |
of this license document, but changing it is not allowed. |
This version of the GNU Lesser General Public License incorporates |
the terms and conditions of version 3 of the GNU General Public |
License, supplemented by the additional permissions listed below. |
0. Additional Definitions. |
As used herein, "this License" refers to version 3 of the GNU Lesser |
General Public License, and the "GNU GPL" refers to version 3 of the GNU |
General Public License. |
"The Library" refers to a covered work governed by this License, |
other than an Application or a Combined Work as defined below. |
An "Application" is any work that makes use of an interface provided |
by the Library, but which is not otherwise based on the Library. |
Defining a subclass of a class defined by the Library is deemed a mode |
of using an interface provided by the Library. |
A "Combined Work" is a work produced by combining or linking an |
Application with the Library. The particular version of the Library |
with which the Combined Work was made is also called the "Linked |
Version". |
The "Minimal Corresponding Source" for a Combined Work means the |
Corresponding Source for the Combined Work, excluding any source code |
for portions of the Combined Work that, considered in isolation, are |
based on the Application, and not on the Linked Version. |
The "Corresponding Application Code" for a Combined Work means the |
object code and/or source code for the Application, including any data |
and utility programs needed for reproducing the Combined Work from the |
Application, but excluding the System Libraries of the Combined Work. |
1. Exception to Section 3 of the GNU GPL. |
You may convey a covered work under sections 3 and 4 of this License |
without being bound by section 3 of the GNU GPL. |
2. Conveying Modified Versions. |
If you modify a copy of the Library, and, in your modifications, a |
facility refers to a function or data to be supplied by an Application |
that uses the facility (other than as an argument passed when the |
facility is invoked), then you may convey a copy of the modified |
version: |
a) under this License, provided that you make a good faith effort to |
ensure that, in the event an Application does not supply the |
function or data, the facility still operates, and performs |
whatever part of its purpose remains meaningful, or |
b) under the GNU GPL, with none of the additional permissions of |
this License applicable to that copy. |
3. Object Code Incorporating Material from Library Header Files. |
The object code form of an Application may incorporate material from |
a header file that is part of the Library. You may convey such object |
code under terms of your choice, provided that, if the incorporated |
material is not limited to numerical parameters, data structure |
layouts and accessors, or small macros, inline functions and templates |
(ten or fewer lines in length), you do both of the following: |
a) Give prominent notice with each copy of the object code that the |
Library is used in it and that the Library and its use are |
covered by this License. |
b) Accompany the object code with a copy of the GNU GPL and this license |
document. |
4. Combined Works. |
You may convey a Combined Work under terms of your choice that, |
taken together, effectively do not restrict modification of the |
portions of the Library contained in the Combined Work and reverse |
engineering for debugging such modifications, if you also do each of |
the following: |
a) Give prominent notice with each copy of the Combined Work that |
the Library is used in it and that the Library and its use are |
covered by this License. |
b) Accompany the Combined Work with a copy of the GNU GPL and this license |
document. |
c) For a Combined Work that displays copyright notices during |
execution, include the copyright notice for the Library among |
these notices, as well as a reference directing the user to the |
copies of the GNU GPL and this license document. |
d) Do one of the following: |
0) Convey the Minimal Corresponding Source under the terms of this |
License, and the Corresponding Application Code in a form |
suitable for, and under terms that permit, the user to |
recombine or relink the Application with a modified version of |
the Linked Version to produce a modified Combined Work, in the |
manner specified by section 6 of the GNU GPL for conveying |
Corresponding Source. |
1) Use a suitable shared library mechanism for linking with the |
Library. A suitable mechanism is one that (a) uses at run time |
a copy of the Library already present on the user's computer |
system, and (b) will operate properly with a modified version |
of the Library that is interface-compatible with the Linked |
Version. |
e) Provide Installation Information, but only if you would otherwise |
be required to provide such information under section 6 of the |
GNU GPL, and only to the extent that such information is |
necessary to install and execute a modified version of the |
Combined Work produced by recombining or relinking the |
Application with a modified version of the Linked Version. (If |
you use option 4d0, the Installation Information must accompany |
the Minimal Corresponding Source and Corresponding Application |
Code. If you use option 4d1, you must provide the Installation |
Information in the manner specified by section 6 of the GNU GPL |
for conveying Corresponding Source.) |
5. Combined Libraries. |
You may place library facilities that are a work based on the |
Library side by side in a single library together with other library |
facilities that are not Applications and are not covered by this |
License, and convey such a combined library under terms of your |
choice, if you do both of the following: |
a) Accompany the combined library with a copy of the same work based |
on the Library, uncombined with any other library facilities, |
conveyed under the terms of this License. |
b) Give prominent notice with the combined library that part of it |
is a work based on the Library, and explaining where to find the |
accompanying uncombined form of the same work. |
6. Revised Versions of the GNU Lesser General Public License. |
The Free Software Foundation may publish revised and/or new versions |
of the GNU Lesser General Public License from time to time. Such new |
versions will be similar in spirit to the present version, but may |
differ in detail to address new problems or concerns. |
Each version is given a distinguishing version number. If the |
Library as you received it specifies that a certain numbered version |
of the GNU Lesser General Public License "or any later version" |
applies to it, you have the option of following the terms and |
conditions either of that published version or of any later version |
published by the Free Software Foundation. If the Library as you |
received it does not specify a version number of the GNU Lesser |
General Public License, you may choose any version of the GNU Lesser |
General Public License ever published by the Free Software Foundation. |
If the Library as you received it specifies that a proxy can decide |
whether future versions of the GNU Lesser General Public License shall |
apply, that proxy's public statement of acceptance of any version is |
permanent authorization for you to choose that version for the |
Library. |
/branches/Nick666/V0.67g MicroMag3/Flight-Ctrl_MEGA644_V0_67g.hex |
---|
0,0 → 1,1984 |
:100000000C948E030C94AB030C94AB030C94AB03D5 |
:100010000C94AB030C94AB030C94AB030C94AB03A8 |
:100020000C94AB030C94AF0C0C94AB030C94AB038B |
:100030000C9423160C94AB030C94AB030C94AB03FD |
:100040000C94AB030C94AB030C94520D0C94F1364E |
:100050000C9453060C94AB030C941D060C94AB0348 |
:100060000C94FA0D0C94AB030C9461150C94AB0337 |
:10007000EC08A409F808A409A409A4093A090B0981 |
:10008000A409A4092D0966096609660966096609B5 |
:100090003E09A409A4092609A4093609240E390E2B |
:1000A000420E4C0E690E810E9A0EB70ED40EF10E52 |
:1000B000D50F1F116711C8111E127212F6129D136F |
:1000C000F31317144D148914C71400157A157F15EE |
:1000D00090159E15AB15A315AB15BF150A0A0D009B |
:1000E0004E65757472616C0048656164696E67483D |
:1000F0006F6C64000A0D537465756572756E673AAE |
:1001000020004F4B0A0D000A0D4162676C65696360 |
:1001100068204C756674647275636B73656E736F7B |
:10012000722E2E000A0D4B616C69627269657265F0 |
:10013000204B6F6D70617373000A0D42656E7574AC |
:100140007A6520506172616D657465727361747A4D |
:10015000202564000A0D414343206E6963687420C2 |
:1001600061626765676C696368656E21000A0D49A5 |
:100170006E69742E20454550524F4D3A2047656EAA |
:100180006572696572652044656661756C742D5091 |
:100190006172616D657465722E2E2E000A0D3D3DF3 |
:1001A0003D3D3D3D3D3D3D3D3D3D3D3D3D3D3D3D7F |
:1001B0003D3D3D3D3D3D3D3D3D3D3D3D000A0D4606 |
:1001C0006C69676874436F6E74726F6C0A0D486176 |
:1001D0007264776172653A25642E25640A0D536F47 |
:1001E0006674776172653A5625642E25642563200E |
:1001F000002E005A5F52616E67653A2020253469EF |
:1002000000595F52616E67653A20202534690058B5 |
:100210005F52616E67653A2020253469004D4D3389 |
:100220002052616E6765005A5F4F66667365743A67 |
:10023000202025336900595F4F66667365743A2044 |
:100240002025336900585F4F66667365743A202035 |
:10025000253369004D4D33204F66660052616E674D |
:10026000653A2533692D253369005374656C6C75C7 |
:100270006E673A2025336900536574706F696E7438 |
:10028000202025336900536572766F202000506F5F |
:100290007469343A202025336900506F7469333A09 |
:1002A000202025336900506F7469323A20202533AD |
:1002B0006900506F7469313A202025336900537406 |
:1002C0006172743A2020202020253569004D657325 |
:1002D00073776572743A2020253569005269636826 |
:1002E00074756E673A2020253569004B6F6D70611B |
:1002F00073732020202020202000456D70662E5032 |
:100300006567656C3A253569005370616E6E756E70 |
:10031000673A202025356900486F636820253469D5 |
:1003200020282533692900526F6C6C202534692000 |
:100330002825336929004E69636B202534692028FC |
:100340002533692900414343202D2053656E736F87 |
:100350007200476965722025346920282533692990 |
:1003600000526F6C6C2025346920282533692900E0 |
:100370004E69636B2025346920282533692900479D |
:100380006965722025346920282533692900526F58 |
:100390006C6C20253469202825336929004E696357 |
:1003A0006B20253469202825336929004779726F2D |
:1003B000202D2053656E736F720050333A253469D7 |
:1003C000202050343A253469200050313A253469D0 |
:1003D000202050323A253469200047733A25346989 |
:1003E000202047693A25346920004E693A2534694E |
:1003F0002020526F3A25346920004B373A25346962 |
:1004000020204B383A25346920004B353A25346991 |
:1004100020204B363A25346920004B333A25346985 |
:1004200020204B343A25346920004B313A25346979 |
:1004300020204B323A25346920004B6F6D70617378 |
:10044000733A20202025356900526F6C6C3A2020C9 |
:1004500020202020253569004E69636B3A2020203A |
:1004600020202025356900616B742E204C61676562 |
:100470000048F668656E726567656C756E67004B5F |
:1004800065696E6520004F66662020202020203A96 |
:1004900020253569004C756674647275636B3A206B |
:1004A00025356900536F6C6C486F6568653A202587 |
:1004B000356900486F6568653A2020202020253581 |
:1004C000690028632920486F6C6765722042757344 |
:1004D000730053657474696E673A20256420004880 |
:1004E000573A5625642E25642053573A25642E2505 |
:1004F000642563002B2B204D696B726F4B6F7074FA |
:100500006572202B2B005B25695D0000010203044E |
:100510000405060708090A0B0B0C0D0E0F1011112C |
:10052000121314151516171818191A1B1B1C1D1D4C |
:100530001E1F1F202121222323242425252627278F |
:10054000282829292A2A2B2B2C2C2D2D2D2E2E2FF5 |
:100550002F3030303131323232333333343434357A |
:100560003535363636373737373838383939393917 |
:100570003A3A3A3A3B3B3B3B3C3C3C3C3C3D3D3DC4 |
:100580003D3E3E3E3E3E3F3F3F3F3F3F404040407E |
:100590004040414141414141424242424242424344 |
:1005A000434343434343444444444444444445450F |
:1005B00045454545454545464646464646464646E2 |
:1005C00047474747474747474747474848484848B6 |
:1005D0004848484848484949494949494949494991 |
:1005E000494949494A4A4A4A4A4A4A4A4A4A4A4A6F |
:1005F0004A4A4B4B4B4B4B4B4B4B4B4B4B4B4B4B4D |
:100600004B4B4B4C4C4C4C4C4C4C4C4C4C4C4C4C2D |
:100610004C4C4C4C4C4C4D4D4D4D4D4D4D4D4D4D10 |
:100620004D4D4D4D4D4D4D4D4D4D4D4D4E4E4E4EF6 |
:100630004E4E4E4E4E4E4E4E4E4E4E4E4E4E4E4EDA |
:100640004E4E4E4E4E4E4F4F4F4F4F4F4F4F4F4FC0 |
:100650004F4F4F4F4F4F4F4F4F4F4F4F4F4F4F4FAA |
:100660004F4F4F4F4F0000120024003600470059F3 |
:10067000006B007D008F00A000B200C300D500E633 |
:1006800000F80009011A012B013C014D015E016FC8 |
:100690000180019001A001B101C101D101E101F08E |
:1006A0000100020F021F022E023D024B025A026895 |
:1006B00002760284029202A002AD02BA02C702D4FC |
:1006C00002E102ED02F902050310031C03270332C5 |
:1006D000033C03470351035B0364036E037703800A |
:1006E00003880390039803A003A703AF03B503BCDB |
:1006F00003C203C803CE03D303D803DD03E203E63A |
:1007000003EA03ED03F003F303F603F803FA03FC33 |
:1007100003FE03FF03FF03000400040011241FBEB7 |
:10072000CFEFD0E1DEBFCDBF13E0A0E0B1E0EAE360 |
:10073000F9E702C005900D92A23AB107D9F717E088 |
:10074000A2EAB3E001C01D92A13CB107E1F70E940B |
:10075000EB030C949C3C0C94000022E030E0D901A7 |
:100760000E947E3C802D863028F082E0D901082E40 |
:100770000E948B3C99270895FB01863008F085E0A4 |
:10078000282F2150842F9927A6E42A9FD0011124D5 |
:10079000A65FBF4F019724F001900E948B3CFACFD7 |
:1007A000A2E0B0E0022E0E948B3C0895FB01282FAE |
:1007B000863008F025E0842F99272150A6E42A9F4F |
:1007C000D0011124A65FBF4F019724F00E947E3C08 |
:1007D0000192FACF08951F93CF93DF9314B815B801 |
:1007E000189B02C08BE001C08AE08093000181E881 |
:1007F00087B98FEF88B98BE184B981E085B98EE341 |
:100800008AB9579A87EF8BB984B7877F84BF809165 |
:1008100060008861809360001092600080ED97E036 |
:100820009093C1038093C003109254041092530418 |
:1008300010920A0710920907109252041092510464 |
:100840001092500410924F04809100018A3011F4EC |
:10085000289801C0289A0E947C0C0E9423080E94BC |
:100860000E160E94F40D0E9447150E9437397894A5 |
:100870001092080683E48093090687E080930A06B5 |
:100880002091000187E690E09F938F9383E490E0AE |
:100890009F938F931F921F92822F6AE00E94D13BF9 |
:1008A000892F99279F938F93822F0E94D13B99275D |
:1008B0009F938F938DEB91E09F938F931F920E9454 |
:1008C000030A8CE991E09F938F931F920E94030A81 |
:1008D000299AA1E0B0E00E947E3C802D2DB73EB762 |
:1008E000205F3F4F2DBF843409F43FC08DE691E077 |
:1008F0009F938F931F920E94030A0E94452310E04A |
:100900000F900F900F90123049F40E94B32246E4EA |
:1009100061E377E082E00E94BC0302C0133051F42F |
:100920000E94222246E461E377E083E00E94BC0358 |
:1009300014E002C0143010F00E94B32246E461E3D8 |
:1009400077E0812F0E94BC031F5F1630E0F283E046 |
:1009500022E030E0D901082E0E948B3C84E4215033 |
:100960003040D901082E0E948B3CC4E0D0E0DE016B |
:100970000E947E3C802D853050F084E591E09F936D |
:100980008F931F920E94030A0F900F900F9022974F |
:10099000DE010E947E3C802D863028F082E0DE0160 |
:1009A000082E0E948B3C46E461E377E00E94D60368 |
:1009B000DE010E947E3C802D863028F082E0DE0140 |
:1009C000082E0E948B3C99279F938F9389E391E097 |
:1009D0009F938F931F920E94030A84EF91E00E94DD |
:1009E0009A0CEC010F900F900F900F900F90CE018A |
:1009F0000E94A30C8823D9F3E0913307FF27EE0F61 |
:100A0000FF1FEB5FF84F8081918185369105C4F01F |
:100A1000E0913407FF27EE0FFF1FEB5FF84F808157 |
:100A200091818536910564F084E291E09F938F93E4 |
:100A30001F920E94030A0E946B380F900F900F9034 |
:100A40008091390780FF20C087E091E09F938F93CA |
:100A50001F920E94030A88EE93E00E949A0CEC0118 |
:100A60000E9476100F900F900F90CE010E94A30C61 |
:100A70008823D9F382E091E09F938F931F920E9485 |
:100A8000030A0F900F900F900E94B42080910001F4 |
:100A90008A3011F4289801C0289A80ED97E090934D |
:100AA000C1038093C00388EE93E090930306809384 |
:100AB000020685E58093FD0584EF90E09F938F9378 |
:100AC0001F920E94030A809139070F900F900F9098 |
:100AD00082FF03C088EE90E002C080EE90E09F931A |
:100AE0008F931F920E94030A0F900F900F908CED2E |
:100AF00090E09F938F931F920E94030A0E94BA1066 |
:100B000088E893E190938603809385030F900F907C |
:100B10000F908091BF03882309F462C01092BF0335 |
:100B20000E94D6230E946D20209100012A3011F4EA |
:100B3000289801C0289A80910301882321F08150D0 |
:100B40008093030110C01092B2031092B30310926D |
:100B50006F0410926E04109271041092700410923F |
:100B600073041092720480914E04882329F08091BE |
:100B70004E04815080934E048091850390918603AA |
:100B8000892B01F585E090E090938603809385039F |
:100B90000E94E81580910403909105038F5F9F4F99 |
:100BA000F9F4809155048823D9F080E197E290937D |
:100BB000C1038093C00380E890E090930503809385 |
:100BC00004030EC080918503909186030197909352 |
:100BD0008603809385032A3011F4289801C0289A4F |
:100BE0000E943E080E94CE08CE010E94A30C8823DA |
:100BF00009F48FCF209108033091090380914907B0 |
:100C00009927281739079CF48091040390910503D4 |
:100C10008F5F9F4F61F480E797E19093C1038093CA |
:100C2000C00380E093E0909305038093040384E67F |
:100C300090E00E949A0CEC016CCF1F920F920FB6BD |
:100C40000F9211248F939F93EF93FF938091010153 |
:100C50008823E1F48091BB039091BC0301969093AB |
:100C6000BC038093BB03FC01E153FB4FE081ED30FB |
:100C700019F08639910539F41092BC031092BB0328 |
:100C800081E080930101E093C60004C01092BC0390 |
:100C90001092BB03FF91EF919F918F910F900FBE28 |
:100CA0000F901F9018951F920F920FB60F9211245C |
:100CB0002F933F934F938F939F93AF93BF93CF9374 |
:100CC000DF93EF93FF938091C6008093A60340913A |
:100CD000B603463910F01092B5038091A6038D300B |
:100CE00009F05CC08091B503823009F057C01092C2 |
:100CF000B503A42FBB27FD01E05FF94F3081ED0163 |
:100D0000CF5ED94F28818091B9039091BA03831B9C |
:100D10009109821B91099F709093BA038093B90344 |
:100D20009C0196E0369527959A95E1F7235C2093F0 |
:100D3000B803982F9F73935C9093B7038081281713 |
:100D400029F48881981711F491E006C08091A903D5 |
:100D50008F5F8093A90390E08091A703882309F017 |
:100D600064C0992309F461C081E08093A703409394 |
:100D7000AA03AE5EB94F8DE08C9380911406823544 |
:100D800009F053C088E190E02CE00FB6F894A895E4 |
:100D9000809360000FBE2093600047C08091B50330 |
:100DA0008130D9F0813018F08230E9F530C080917F |
:100DB000A603833239F48091A703882319F481E0D4 |
:100DC0008093B5038091A6038093120681E08093FF |
:100DD000B6038091A603992715C082E08093B503DE |
:100DE000E42FFF278091A603EE5EF94F80834F5FCB |
:100DF0004093B6032091A6038091B9039091BA0362 |
:100E0000820F911D9093BA038093B9030EC0E42F13 |
:100E1000FF278091A603EE5EF94F8083463938F3B1 |
:100E20001092B503E7CF1092B503FF91EF91DF91D8 |
:100E3000CF91BF91AF919F918F914F913F912F9102 |
:100E40000F900FBE0F901F901895DC0120E030E04E |
:100E500040E050E0EFECF4E005C08191280F311D37 |
:100E60004F5F5F4F4A175B07C1F73F70C90136E01C |
:100E7000969587953A95E1F7835CFD01E153FB4F29 |
:100E8000808311962F73235CFD01E153FB4F208378 |
:100E9000A053BB4F8DE08C93109201018091CF0441 |
:100EA0008093C6000895EF92FF920F931F93CF9304 |
:100EB000DF937A01722F93E29093CF046093D00472 |
:100EC0008093D10403E010E060E0A2EDB4E046C0FE |
:100ED000F701E60FF11D90816F5F715019F4E0E0AA |
:100EE00040E00FC0F701E60FF11D40816F5F7150C8 |
:100EF00011F4E0E006C0F701E60FF11DE0816F5F3D |
:100F00007150892F86958695835C8C935527892F00 |
:100F100099278370907024E0880F991F2A95E1F734 |
:100F20009A0194E0369527959A95E1F7822B835C98 |
:100F3000ED0189834F705070440F551F440F551FAA |
:100F40008E2F8295869586958370842B835C8A8309 |
:100F5000EF73E35CEB830C5F1F4F1496772309F06C |
:100F6000B7CFC8010E942507E6E0CDB7DEB70C94E5 |
:100F7000693C1F93CF93DF93EC0170E0A22FBB2756 |
:100F8000129748C0E42FFF27EE5EF94F30814F5F84 |
:100F9000E42FFF27EE5EF94F50814F5FE42FFF27CC |
:100FA000EE5EF94F10814F5FE42FFF27EE5EF94FA1 |
:100FB00020814F5F842F9927A817B90774F15D53DB |
:100FC000FE01E70FF11D3D53330F330F852F82953F |
:100FD0008F70382B3083613001F1912F9D537F5FEB |
:100FE000FE01E70FF11D71505295507F892F8695B4 |
:100FF0008695582B508363506F3F79F07E5FFE01DA |
:10100000E70FF11D9295990F990F907C2D53922B1C |
:1010100090837F5F662309F0B5CFDF91CF911F9159 |
:1010200008951F93182F8A3019F48DE00E9411083B |
:101030008091C00085FFFCCF1093C60080E090E057 |
:101040001F9108950895E1ECF0E088E18083A0EC21 |
:10105000B0E08C9182608C938081806880838081F5 |
:10106000806480838AE28093C40088EC90E00E94D0 |
:101070009A0C9093FC058093FB05089580910101E3 |
:10108000882309F48AC08091A203882371F080919B |
:101090000101882351F02BE04DEF55E06091CE0423 |
:1010A00087E40E9453071092A2038091FB05909160 |
:1010B000FC050E94A30C882321F48091A4038823BB |
:1010C000B1F080910101882391F022E448EA56E0D2 |
:1010D0006091CE0484E40E9453071092A40384EF2D |
:1010E00091E00E949A0C9093FC058093FB0560911F |
:1010F00002016F3F89F0462F552734E0440F551FFA |
:101100003A95E1F74C5F5E4F605D20E181E40E941B |
:1011100053078FEF809302018091A303882359F135 |
:1011200080910101882339F10E94C3101092A3031A |
:101130003091AC03932F9F5F9093AC03943021F0D8 |
:101140008091AD03882359F026E145E057E060E047 |
:1011500084E30E9453078FEF8093AC030CC044E1FB |
:10116000949FA0011124465E5C4F24E160E0832F30 |
:101170008F5C0E9453078091A503882371F08091B2 |
:101180000101882351F02AE048E056E06091CE0446 |
:1011900086E50E9453071092A5030895A2E0B0E0EF |
:1011A000E4EDF8E00C94503C8091A703882309F407 |
:1011B000CDC08FEF80930301809114069927AA2751 |
:1011C000BB27FC01E156F040E631F10508F0BCC058 |
:1011D000E85CFF4F0C94783C2091AA0343E062E066 |
:1011E000CE0101960E94B907898180930201ACC0AB |
:1011F0002091AA0343E06BE08DEF95E00E94B907D0 |
:101200008091E6039091FF05892B8093E60381E0AE |
:101210008093A40399C02091AA0343E062E0CE0129 |
:1012200001960E94B9078091E6039981892B8093EA |
:10123000E6038A818F3F21F481E08093AD0302C0F1 |
:101240001092AD0381E08093A3037EC02091AA0396 |
:1012500043E064E08EEA93E006C02091AA0343E0F5 |
:1012600063E082EB93E00E94B9076EC081E0809357 |
:10127000A5036AC081E08093A20366C02091AA03FF |
:1012800043E062E0CE0101960E94B90789818F3F59 |
:1012900089F0863010F085E0898346E461E377E0E9 |
:1012A00089810E94D603898126E441E357E0609159 |
:1012B000CE0408C01091CE040E94AD0326E441E3A1 |
:1012C00057E0612F855B0E9453073EC02091AA031F |
:1012D00043E066E481E397E00E94B9078091140639 |
:1012E00046E461E377E08B560E94BC0380911406CC |
:1012F0008B56A2E0B0E0082E0E948B3C60915C0708 |
:1013000077278827992724EC39E040E050E00E94B5 |
:10131000B23B609387037093880380938903909313 |
:101320008A0360915D077727882799270E94B23B3F |
:1013300060938B0370938C0380938D0390938E0343 |
:101340000E94AD030E940D221092A703E3E0CE5F3E |
:101350000C946C3C982F8091EA06813069F480915E |
:10136000E503E82FFF27E65EFC4F90838F5F8093B5 |
:10137000E50321E030E005C0892F0E941108282FE5 |
:101380003327C90108951F93182F04C080E30E94DA |
:10139000AA0911501116D4F31F9108951F93182F05 |
:1013A00004C080E20E94AA0911501116D4F31F91C3 |
:1013B00008950F931F93CF93DF938C01EB0108C027 |
:1013C000F8010F5F1F4FE4918E2F0E94AA09219709 |
:1013D0002097B1F7DF91CF911F910F9108950F934F |
:1013E0001F93CF93DF938C01EB0106C0F80181912D |
:1013F0008F010E94AA0921972097C1F7DF91CF9111 |
:101400001F910F910895A3E3B0E0E9E0FAE00C9496 |
:10141000413C29968FAD29978093EA06CE01855BE2 |
:101420009F4F9D838C832B968EAD9FAD2B979FA74F |
:101430008EA722243324210102C0130124010EA50A |
:101440001FA502C00F5F1F4FF801F490FF2019F095 |
:10145000F5E2FF16B9F7B8018EA59FA5681B790BB9 |
:1014600011F00E94D909FF2009F442C20F5F1F4FFB |
:101470001FA70EA71982AC81BD811BAA1AAA9FEFD4 |
:1014800099ABEEA5FFA5CF0101969FA78EA7B490BB |
:1014900095E7B91621F08B2D8062883789F4EBA986 |
:1014A000E0FF07C02D903D904D905C9013971496EF |
:1014B00007C08D919C9111971C01442455241296CC |
:1014C000F0E2BF1621F489818823D9F685C083E232 |
:1014D000B81609F483C09AE2B91621F0EDE2BE16FF |
:1014E00069F408C0FD011296E081EAABE7FFC9CFBD |
:1014F000E195EAABFBA9F061FF7D72C08BE2B81603 |
:1015000009F46AC09EE2B916B1F52EA53FA52F5F7A |
:101510003F4FEEA5FFA584918A3221F0B82E20E03E |
:1015200030E01BC0FD0112964081518157FF02C07F |
:101530004FEF5FEF49AB3FA72EA7A3CFC90103E051 |
:10154000880F991F0A95E1F7220F331F280F391FC3 |
:101550002B0D311D20533040B49031968B2D80538C |
:101560008A3060F3FFA7EEA7A90137FF02C04FEF53 |
:101570005FEF49AB8DCFF0E3BF1631F48BA984FD4B |
:1015800080CF80628BAB7DCF8B2D81538930E8F487 |
:1015900020E030E0C901F3E0880F991FFA95E1F7E8 |
:1015A000220F331F280F391F2B0D311D20533040C0 |
:1015B000EEA5FFA5CF0101969FA78EA7B4908B2D16 |
:1015C00080538A3038F32AAB63CF98E6B91651F4CA |
:1015D000EBA9E460EBAB55CFB98253CFFBA9F86020 |
:1015E000FBAB4FCF8CE6B81621F49BA991609BAB67 |
:1015F00048CFBD83AC83E3E6BE1639F41296BD83B3 |
:10160000AC8312978C918E8318C1F4E4BF1639F025 |
:1016100084E6B81639F099E6B91659F503C0EBA976 |
:10162000E160EBABFBA9F0FF08C01496BD83AC836F |
:101630005E904E903E902E900AC01296BD83AC8371 |
:101640009E918E911C01442437FC4094542C57FCED |
:1016500003C08AE088AB92C05094409430942094A8 |
:10166000211C311C411C511C8DE289839AE098ABEE |
:1016700085C0EFE4BE1629F0FFE6BF1639F488E016 |
:1016800061C09BA991609BABE8E056C0F0E7BF1634 |
:1016900071F41296BD83AC839E918E911C014424FB |
:1016A00055248BA980648BAB78E7B72E5EC0E3E747 |
:1016B000BE16D9F51296BD83AC83DE90CE90C114D0 |
:1016C000D10489F488E28E838EE68F8385E788874C |
:1016D0008CE689878A8789E28B871C8666E0C62E1E |
:1016E000D12CCC0EDD1EF9A9F7FD13C04F2F5527C5 |
:1016F00047FD509560E070E0C6010E943D3A0097BA |
:1017000011F419A90DC08C1919A981174CF4182FBF |
:1017100007C0F60101900020E9F731971E2F1C1930 |
:1017200019824201310140E094C085E5B81631F0DC |
:1017300095E7B91649F4EAE0E8AB1FC0FBA9F160F0 |
:10174000FBAB8AE088AB19C098E5B91621F0E8E751 |
:10175000BE1609F06EC0FBA9F3FD02C080E1F2CF16 |
:10176000211431044104510419F490E198AB05C0EF |
:10177000EBA9E064EBABF0E1F8AB198289A987FD36 |
:1017800003C09BA99F7D9BAB2114310441045104EC |
:1017900061F4E9A9EE2349F46624772443015EE26B |
:1017A000C52ED12CCC0EDD1E3EC04EE2C42ED12C57 |
:1017B000CC0EDD1EF8A9EF2EFF2400271127C20151 |
:1017C000B101A80197010E94043C6A3020F430E383 |
:1017D000A32EA60E08C027E5A22EA60E88E5B816F1 |
:1017E00011F49FEDA922F601A2926F01C201B1018D |
:1017F000A80197010E94043C39014A012E143F04BC |
:101800004006510618F019012A01D9CFF8A9F8307D |
:1018100051F48BA983FF07C090E3A91621F080E360 |
:10182000F60182936F01CE018C19182F125D49A920 |
:1018300010C0BB2009F45CC0BE8219824201310194 |
:1018400000E096E0C92ED12CCC0EDD1E11E021E087 |
:1018500005C0212F042F011B07FD00E0898188238B |
:1018600019F0812F8F5F07C09BA996FD02C0812FC1 |
:1018700002C0822F8E5FA82EA00EEBA9EE2EFF24B1 |
:1018800080E3482E512C4E205F204114510421F456 |
:101890008AA98A190E94CE098981882329F061E0EA |
:1018A00070E0CE01019609C0E6FE09C080E38A839C |
:1018B000BB8262E070E0CE0102960E94EF09F0E286 |
:1018C0004F16510421F48AA98A190E94C309802F56 |
:1018D0000E94C309612F772767FD7095C6010E949A |
:1018E000EF09E4FEAACD8AA98A190E94CE09A5CDE6 |
:1018F000E2E1CD5C0C945D3C82E085BD83EA84BD71 |
:1019000017BC88E788BD96E096BD83EC8093B00055 |
:101910009093B100E0E7F0E0808182608083EEE6A2 |
:10192000F0E08081816080838AE08093B300109230 |
:10193000B20008952091BD033091BE032F5F3F4F49 |
:10194000820F931F08952091BD033091BE03821B27 |
:10195000930B892F992786958074992708951F9254 |
:101960000F920FB60F921124EF92FF920F931F93D5 |
:101970002F933F934F935F936F937F938F939F9397 |
:10198000AF93BF93CF93DF93EF93FF9380910603C1 |
:101990008150809306038F3F09F069C083E88093EC |
:1019A000B00080919C03C82FDD27D093C303C09360 |
:1019B000C20380916607E0905307209101043091A3 |
:1019C0000204409103045091040480FF18C0FF24D6 |
:1019D00000271127CA01B90120E830E040E050E0BB |
:1019E0000E94263CC801B7010E94B23B20E032E0D1 |
:1019F00040E050E00E94263CC20FD31F17C0FF24D6 |
:101A000000271127CA01B90120E830E040E050E08A |
:101A10000E94263CC801B7010E94B23B20E032E0A0 |
:101A200040E050E00E94263CC21BD30BD093C3037E |
:101A3000C093C2032091C2033091C3038091540725 |
:101A400099272817390734F080915507992782176D |
:101A5000930724F49093C3038093C2038091C2033D |
:101A60008093B300809156078093060304C083E0FF |
:101A70008093B0005F98FF91EF91DF91CF91BF917C |
:101A8000AF919F918F917F916F915F914F913F9116 |
:101A90002F911F910F91FF90EF900F900FBE0F901D |
:101AA0001F9018951F920F920FB60F9211242F932B |
:101AB0003F934F935F936F937F938F939F93AF93D6 |
:101AC000BF93EF93FF938091C40381508093C4032D |
:101AD0008F3FB9F48AE08093C403809107038F5F3E |
:101AE000817080930703882319F481E08093BF03FA |
:101AF0008091BD039091BE0301969093BE038093A5 |
:101B0000BD038091C0039091C1030297B0F0809112 |
:101B1000C0039091C10301979093C1038093C003C8 |
:101B20008091C0039091C10320910403309105037B |
:101B300082239323892BD1F406C08FEF9FEF9093DC |
:101B4000050380930403809100018A3039F404C0B6 |
:101B50005A9A05C0479A03C05A9801C04798809185 |
:101B6000390783FF08C00E94393805C08091000101 |
:101B70008A3081F7EDCFFF91EF91BF91AF919F91A7 |
:101B80008F917F916F915F914F913F912F910F9026 |
:101B90000FBE0F901F9018952091BD033091BE038A |
:101BA0002F5F3F4F280F391F4FEE02C040937A003E |
:101BB0008091BD039091BE03B901681B790B77FF3B |
:101BC000F5CF08952091BD033091BE032F5F3F4FA5 |
:101BD000280F391F8091BD039091BE03A901481BB6 |
:101BE000590B57FFF7CF089510927C008FEE80932A |
:101BF0007A0008951F920F920FB60F921124DF9270 |
:101C0000EF92FF920F931F932F933F934F935F9306 |
:101C10006F937F938F939F93AF93BF93CF93DF93F4 |
:101C2000EF93FF9310927A008091E103D82ED39422 |
:101C3000D092E103E82FFF27EB30F10508F038C21E |
:101C4000E25BFF4F0C94783C809178009091790092 |
:101C50009093E0038093DF0381E08093E20380911F |
:101C6000D9039091DA0301969093DA038093D90314 |
:101C700015C280917800909179009093DE03809353 |
:101C8000DD0390C080917800909179009093DC03FF |
:101C90008093DB0384E086C14091080350910903DF |
:101CA00080917800909179009A01220F331F240FC0 |
:101CB000351F63E070E00E94DD3B260F371F36952D |
:101CC000279536952795309309032093080386E0DE |
:101CD00069C18091FB039091FC03209178003091C1 |
:101CE0007900821B930B9093EC068093EB06809116 |
:101CF000EB069091EC069093CC038093CB0387E0A6 |
:101D000051C180917800909179002091F903309130 |
:101D1000FA03821B930B9093F7068093F60680914B |
:101D2000F6069091F7069093CE038093CD03109220 |
:101D3000E203B4C1809100012091DF033091E00300 |
:101D40008A3049F48091780090917900820F931F36 |
:101D50009695879506C08091780090917900820FC2 |
:101D6000931F9093CA038093C90381E01BC18091A4 |
:101D700000012091DD033091DE038A3049F4809127 |
:101D8000780090917900820F931F9695879506C0F1 |
:101D90008091780090917900820F931F9093C803EF |
:101DA0008093C70382E0FEC0809100012091DB0395 |
:101DB0003091DC038A3049F4809178009091790069 |
:101DC000820F931F9695879506C080917800909119 |
:101DD0007900820F931F9093C6038093C50385E01B |
:101DE000E1C06091780070917900E090FD03F0907F |
:101DF000FE030091FF0310910004882777FD809572 |
:101E0000982F0E94F03AA80197010E944A3A0E9436 |
:101E1000D33A7093D0036093CF032091CF033091D6 |
:101E2000D003E091EB06F091EC068091F6069091DC |
:101E3000F70697FF03C0909581959F4F64E070E08F |
:101E40000E94F13BEB01CF01F7FF03C09095819514 |
:101E50009F4F64E070E00E94F13B260F371F2C0F6C |
:101E60003D1F3093D0032093CF038091CF039091F7 |
:101E7000D003029704F16091FD037091FE038091FD |
:101E8000FF039091000420E030E048E454E40E9415 |
:101E9000FA3A88230CF03CC06091FD037091FE0378 |
:101EA0008091FF03909100042AE037ED43EA5CE360 |
:101EB0000E944B3A25C08091CF039091D0038F5F51 |
:101EC0009F4F34F56091FD037091FE038091FF03F5 |
:101ED0009091000420E030E046E154E40E94FD3A95 |
:101EE0001816B4F46091FD037091FE038091FF0316 |
:101EF000909100042AE037ED43EA5CE30E944A3AFD |
:101F00006093FD037093FE038093FF03909300049E |
:101F100081E08093D603809178009091790090932E |
:101F2000EE068093ED062091390430913A044091F9 |
:101F30003B0450913C048091CF039091D003AA2799 |
:101F400097FDA095BA2F280F391F4A1F5B1F2093BA |
:101F5000390430933A0440933B0450933C04E0909E |
:101F60003904F0903A0400913B0410913C046091D4 |
:101F7000390470913A0480913B0490913C0420E034 |
:101F800034E040E050E00E94263CE21AF30A040BE1 |
:101F9000150BE0923904F0923A0400933B0410933D |
:101FA0003C0483E08093E20379C08091FB0690912A |
:101FB000FC062091780030917900820F931F909356 |
:101FC000FC068093FB068091F3068F5F8093F306F7 |
:101FD0008091F306853008F46BC080917800909171 |
:101FE000790090930F0380930E031092F306809173 |
:101FF000EF069091F0062091FB063091FC06821BC3 |
:10200000930B2091560430915704821B930B9093AD |
:10201000D8038093D7036091FB067091FC06E09093 |
:102020000A03F0900B0300910C0310910D03882715 |
:1020300077FD8095982FA8019701220F331F441F29 |
:10204000551F2E0D3F1D401F511F620F731F841F10 |
:10205000951F24E030E040E050E00E94263C2093B1 |
:102060000A0330930B0340930C0350930D0320910C |
:10207000EF063091F00680910A0390910B03A09136 |
:102080000C03B0910D03281B390B30935704209398 |
:1020900056041092FC061092FB060AC08091E203DF |
:1020A00080937C00DD2051F08FEE80937A0006C093 |
:1020B0001092E2031092E10310927C00FF91EF91E5 |
:1020C000DF91CF91BF91AF919F918F917F916F9150 |
:1020D0005F914F913F912F911F910F91FF90EF9042 |
:1020E000DF900F900FBE0F901F901895CF93DF9346 |
:1020F000A3E0B0E00E947E3C802DC82FDD27C531D3 |
:10210000D10508F02A97C7BD84E690E00E94CC0D67 |
:1021100080910E0390910F0382559340D0F4C0E05C |
:10212000D0E017C0C7BD82E390E00E94CC0D81EFE4 |
:1021300091E09F938F931F920E94030A80910E0358 |
:1021400090910F030F900F900F908458934020F0C0 |
:102150002196CA3FD10530F3A3E0B0E00C2E0E94D7 |
:102160008B3CC093F8068CE291E00E94CC0DDF918D |
:10217000CF910895EAE1F3E080E2819393E0EA36BB |
:10218000F907D9F708951F938091E603282F332785 |
:10219000C90181709070682F8823A9F08091E703AE |
:1021A000882311F0815002C080916A038093E70375 |
:1021B000EAE1F3E080E2819393E0EA36F907D9F7A8 |
:1021C0008FEF8093AC03A9014270507021FF10C0C3 |
:1021D0008091E7038F5F8093E703EAE1F3E080E219 |
:1021E000819393E0EA36F907D9F78FEF8093AC0338 |
:1021F000662321F0452B11F01092E70381E18093D3 |
:10220000E5038091E70399279F938F9386E095E0FC |
:102210009F938F9381E08F930E94030A8091E7033D |
:102220000F900F900F900F900F90E82FFF27ED3039 |
:10223000F10508F023C4E75AFF4F0C94783C109244 |
:10224000E50384EF94E09F938F9311E01F930E9426 |
:10225000030A84E18093E5032091000187E690E082 |
:102260009F938F9383E490E09F938F931F921F928D |
:10227000822F6AE00E94D13B892F99279F938F93E9 |
:10228000822F0E94D13B99279F938F938FED94E0EB |
:102290009F938F931F930E94030A88E28093E50324 |
:1022A0000E94AD0399279F938F9382ED94E09F93B3 |
:1022B0008F931F930E94030A8CE38093E50382ECC3 |
:1022C00094E09F938F931F930E94030A88C280918A |
:1022D000390780FF44C01092E50380915604909125 |
:1022E00057049F938F9383EB94E09F938F9311E018 |
:1022F0001F930E94030A84E18093E50380915804B0 |
:10230000909159049F938F9384EA94E09F938F93C5 |
:102310001F930E94030A88E28093E50380910E03D5 |
:1023200090910F039F938F9385E994E09F938F93F0 |
:102330001F930E94030A8CE38093E5038091F806C3 |
:1023400099279F938F9386E894E09F938F931F9391 |
:102350000E94030A8DB79EB744968DBF94C384E153 |
:102360008093E5038FE794E09F938F9311E01F9391 |
:102370000E94030A88E28093E50381E794E09F933B |
:102380008F931F930E94030A8DB79EB70696E5CFE1 |
:102390001092E50387E694E09F938F9311E01F93DB |
:1023A0000E94030A84E18093E50360910104709127 |
:1023B0000204809103049091040420E034E040E0A2 |
:1023C00050E00E94263C5F934F933F932F9388E504 |
:1023D00094E09F938F931F930E94030A88E2809357 |
:1023E000E5036091090470910A0480910B049091B7 |
:1023F0000C0420E034E040E050E00E94263C5F9373 |
:102400004F933F932F9389E494E09F938F931F936F |
:102410000E94030A8CE38093E50380913D04909130 |
:102420003E049F938F938AE394E09F938F931F932F |
:102430000E94030A8DB79EB746968FCF1092E50390 |
:102440008091090790910A072091070730910807AA |
:102450009F938F933F932F938AE294E09F938F9360 |
:1024600011E01F930E94030A84E18093E5038091A9 |
:102470000D0790910E0720910B0730910C079F9349 |
:102480008F933F932F938AE194E09F938F931F93B1 |
:102490000E94030A88E28093E503809111079091DE |
:1024A000120720910F07309110079F938F933F934E |
:1024B0002F938AE094E09F938F931F930E94030AC7 |
:1024C0008CE38093E5038091150790911607209186 |
:1024D0001307309114079F938F933F932F938AEFA5 |
:1024E00093E07BC01092E503E0913207FF27EE0FE7 |
:1024F000FF1FEB5FF84F20813181E0913107FF270B |
:10250000EE0FFF1FEB5FF84F808191813F932F9378 |
:102510009F938F938AEE93E09F938F9311E01F9385 |
:102520000E94030A84E18093E503E0913407FF27CA |
:10253000EE0FFF1FEB5FF84F20813181E0913307F1 |
:10254000FF27EE0FFF1FEB5FF84F808191813F93D4 |
:102550002F939F938F938AED93E09F938F931F9375 |
:102560000E94030A88E28093E503E0913607FF2783 |
:10257000EE0FFF1FEB5FF84F20813181E0913507AF |
:10258000FF27EE0FFF1FEB5FF84F808191813F9394 |
:102590002F939F938F938AEC93E09F938F931F9336 |
:1025A0000E94030A8CE38093E503E0913807FF273C |
:1025B000EE0FFF1FEB5FF84F20813181E09137076D |
:1025C000FF27EE0FFF1FEB5FF84F808191813F9354 |
:1025D0002F939F938F938AEB93E09F938F931F93F7 |
:1025E0000E94030A8DB79EB74C96B7CE1092E503B2 |
:1025F0008CEA93E09F938F9311E01F930E94030A4C |
:102600000F900F900F9080910001E091EF03F091F7 |
:10261000F0038A30F1F584E18093E5038091C503EE |
:102620009091C603FF93EF938E1B9F0B9F938F9305 |
:102630008DE993E09F938F931F930E94030A88E292 |
:102640008093E5032091F1033091F2038091C70359 |
:102650009091C8033F932F93821B930B9F938F936B |
:102660008EE893E09F938F931F930E94030A8CE35D |
:102670008093E5038091F3039091F4039F938F93EC |
:102680008091A0079091A1079F938F938FE793E08C |
:102690004BC084E18093E5032091C5033091C603CC |
:1026A000CF0162E070E00E94F13B7F936F932E1B9D |
:1026B0003F0B3F932F9380E793E09F938F931F935C |
:1026C0000E94030A88E28093E503E091F103F09110 |
:1026D000F2032091C7033091C803CF0162E070E09C |
:1026E0000E94F13B7F936F932E1B3F0B3F932F93E1 |
:1026F00081E693E09F938F931F930E94030A8CE3DC |
:102700008093E5038091F3039091F40362E070E01D |
:102710000E94F13B7F936F938091A0079091A10756 |
:102720009F938F9382E593E09F938F931F930E94D3 |
:10273000030A8DB79EB7459610CE1092E50385E447 |
:1027400093E09F938F9311E01F930E94030A84E10B |
:102750008093E5038091F9039091FA032091CD03D2 |
:102760003091CE039F938F933F932F9386E393E013 |
:102770009F938F931F930E94030A88E28093E5033F |
:102780008091FB039091FC032091CB033091CC030B |
:102790009F938F933F932F9387E293E09F938F9321 |
:1027A0001F930E94030A8CE38093E5036091FD036D |
:1027B0007091FE038091FF03909100040E94D33A30 |
:1027C0007F936F9380918807909189079F938F9350 |
:1027D00088E193E09F938F931F930E94030A8DB724 |
:1027E0009EB74896BACD84E18093E50380910803B3 |
:1027F000909109039F938F9389E093E09F938F9328 |
:1028000011E01F930E94030A88E28093E503809100 |
:102810004E0499279F938F938AEF92E09F938F9313 |
:102820001F930E94030A8DB79EB70A9696CD109209 |
:10283000E5038BEE92E09F938F9311E01F930E942C |
:10284000030A84E18093E50380914104909142045E |
:102850009F938F938CED92E09F938F931F930E9491 |
:10286000030A88E28093E50380913D0490913E0441 |
:102870009F938F938DEC92E09F938F931F930E9471 |
:10288000030A8CE38093E50380913F049091400418 |
:102890009F938F938EEB92E0E8C01092E5038091B6 |
:1028A0004604909147049F938F9382EB92E09F930D |
:1028B0008F9311E01F930E94030A84E18093E50344 |
:1028C00080914804909149049F938F9386EA92E007 |
:1028D0009F938F931F930E94030A88E28093E503DE |
:1028E00080914A0490914B049F938F938AE992E0E0 |
:1028F0009F938F931F930E94030A8CE38093E503B9 |
:1029000080914C0490914D049F938F938EE892E0B8 |
:102910001CCD1092E50386E892E09F938F9311E01F |
:102920001F930E94030A84E18093E50380919C0336 |
:1029300099279F938F9388E792E09F938F931F939C |
:102940000E94030A88E28093E5038091C20390917C |
:10295000C3039F938F938AE692E09F938F931F9375 |
:102960000E94030A8CE38093E50380915507992721 |
:102970009F938F938091540799279F938F938CE512 |
:1029800092E09F938F931F930E94030AE3CC1092CF |
:10299000E50384E592E09F938F9311E01F930E94DB |
:1029A000030A84E18093E5038091AE07992787FDB0 |
:1029B00090959F938F9385E492E09F938F931F93BD |
:1029C0000E94030A88E28093E5038091AF0799276C |
:1029D00087FD90959F938F9386E392E09F938F93CB |
:1029E0001F930E94030A8CE38093E5038091B00754 |
:1029F000992787FD90959F938F9387E292E035C04A |
:102A00001092E5038DE192E09F938F9311E01F9365 |
:102A10000E94030A84E18093E5038091B1079091BD |
:102A2000B2079F938F938FE092E09F938F931F93B2 |
:102A30000E94030A88E28093E5038091B307909196 |
:102A4000B4079F938F9381E092E09F938F931F939E |
:102A50000E94030A8CE38093E5038091B50790916F |
:102A6000B6079F938F9383EF91E09F938F931F936C |
:102A70000E94030A8DB79EB742966FCC8150809317 |
:102A80006A031092E7031092E6031F9108951092D3 |
:102A9000B9008AE28093B800089585EA8093BC006B |
:102AA00080E090E0089584E98093BC00089510923E |
:102AB000B9008093BB0085E88093BC0080E090E083 |
:102AC00008951F920F920FB60F9211248F939F9328 |
:102AD000EF93FF938091E8038F5F8093E803815029 |
:102AE000E82FFF27E830F10508F064C0EA59FF4FEE |
:102AF0000C94783C8091E903880F8E5A09C080912C |
:102B0000E9038F5F8093E903815027C080917B07A1 |
:102B10001092B9008093BB0085E88093BC004AC046 |
:102B200084E98093BC008091E903843018F410920A |
:102B3000E80302C01092E90385EAEFCF8091EA032F |
:102B4000880F8D5AE5CF8091BB00E091EA03FF2703 |
:102B5000E350F94F80838091EA03813039F081306E |
:102B6000A8F2823031F0833029F506C080918007C9 |
:102B7000CFCF80919807CCCF80919A07C9CF809111 |
:102B8000EA039091BB00E82FFF27E350F94F9483AD |
:102B90008F5F8093EA03843010F01092EA0384E997 |
:102BA0008093BC008AE090E0909386038093850335 |
:102BB0001092E8038091BC0080688093BC00FF9174 |
:102BC000EF919F918F910F900FBE0F901F901895CE |
:102BD0004CEB50E084E9DA018C931092E8032BEB84 |
:102BE00030E0F90180811092E90380E88C93109223 |
:102BF000BD001092BA001082E9EBF0E01082A8EB61 |
:102C0000B0E01C9210828AE28C9385EADA018C9300 |
:102C10001082F901108285E88C93089583EC8093EB |
:102C20008100EFE6F0E08081806280831092F403FF |
:102C30001092F3031092F2031092F1031092F0033A |
:102C40001092EF0308951F920F920FB60F92112466 |
:102C50000F931F932F933F934F935F936F937F93A4 |
:102C60008F939F93AF93BF93CF93DF93EF93FF9394 |
:102C700020918600309187008091ED039091EE03C2 |
:102C8000281B390B80918600909187009093EE036A |
:102C90008093ED03C9018D549440C091EB03D09112 |
:102CA000EC03835F9A4158F4249714F010926B035D |
:102CB00081E090E09093EC038093EB035CC0CA301A |
:102CC000D1050CF058C0C9018B5F9040845B9140E6 |
:102CD00008F040C0A901425D5140FE01EE0FFF1F08 |
:102CE000EB5FF84F80819181FA01E81BF90BCF016E |
:102CF000F7FF03C0909581959F4F06974CF4809104 |
:102D00004E04883C28F480914E04865F80934E04E4 |
:102D1000FE01EE0FFF1F8F010B5F184FD8012D91A1 |
:102D20003C91C901880F991F820F931F840F951F33 |
:102D300064E070E00E94F13BD8018D919C91119765 |
:102D40009B01281B390BE55EF84F318320831196D8 |
:102D50007C936E93FE013196F093EC03E093EB03CA |
:102D6000E530F10511F45D9A05C05D98369711F4D0 |
:102D70005C9A01C05C98FF91EF91DF91CF91BF9178 |
:102D8000AF919F918F917F916F915F914F913F9103 |
:102D90002F911F910F910F900FBE0F901F901895BC |
:102DA000A2E1B0E0E6EDF6E10C94413C8091C9036C |
:102DB0009091CA034090F3035090F403481A590AC3 |
:102DC0005092A1074092A0078091C7039091C80339 |
:102DD000988B8F87A091F103B091F203BA8BA98BE6 |
:102DE000E091C503F091C603FE87ED878091EF0364 |
:102DF0009091F0039C878B876091CD037091CE03F7 |
:102E0000E0909D07F0909E070027F7FC0095102F9B |
:102E1000882777FD8095982F2CE030E040E050E047 |
:102E20000E94B23BE60EF71E081F191FC801B7012A |
:102E300022E030E040E050E00E94263C30939E07C4 |
:102E400020939D076091CB037091CC03E090A7077E |
:102E5000F090A8070027F7FC0095102F882777FD32 |
:102E60008095982F2CE030E040E050E00E94B23B8B |
:102E7000E60EF71E081F191FC801B70122E030E057 |
:102E800040E050E00E94263C3093A8072093A7071B |
:102E90002091CF033091D00360918807709189070A |
:102EA000882777FD8095982F442737FD4095542F2C |
:102EB000620F731F841F951F22E030E040E050E056 |
:102EC0000E94263C30938907209388072091CD03E8 |
:102ED0003091CE03C901880F991F820F931F880F6D |
:102EE000991F880F991FAA2797FDA095BA2F2091A7 |
:102EF0001104309112044091130450911404280FCE |
:102F0000391F4A1F5B1F2093110430931204409312 |
:102F10001304509314042091CB033091CC03C901C6 |
:102F2000880F991F820F931F880F991F880F991F71 |
:102F3000AA2797FDA095BA2F209115043091160469 |
:102F40004091170450911804280F391F4A1F5B1F26 |
:102F500020931504309316044093170450931804DB |
:102F6000E090ED06F090EE06A090FD03B090FE0319 |
:102F7000C090FF03D09000046091190470911A046E |
:102F800080911B0490911C040E94F03A3B014C017B |
:102F90000027F7FC0095102FC801B7010E94F03AF6 |
:102FA000A60195010E944A3A9B01AC01C401B301FC |
:102FB0000E944B3A0E94D33A6093190470931A040A |
:102FC00080931B0490931C045201CC24B7FCC09442 |
:102FD000DC2C609031047090320480903304909027 |
:102FE00034046A0C7B1C8C1C9D1C60923104709212 |
:102FF000320480923304909234048091350490918D |
:103000003604A0913704B09138048A0D9B1DAC1D85 |
:10301000BD1D8093350490933604A0933704B0937C |
:10302000380490915E049A87992309F05FC08091DB |
:103030005F04882309F05AC08091390786FF56C083 |
:10304000E0906C04FF240027112760912104709107 |
:103050002204809123049091240420E030E140E098 |
:1030600050E00E94263CCA01B901A80197010E94C4 |
:10307000B23B9B01AC01C601B5010E94B23B20E00E |
:1030800038E040E050E00E94263C2093B5043093A5 |
:10309000B6044093B7045093B8046091290470912A |
:1030A0002A0480912B0490912C0420E030E140E030 |
:1030B00050E00E94263CCA01B901A80197010E9474 |
:1030C000B23B9B01AC01C601B5010E94B23B20E0BE |
:1030D00038E040E050E00E94263C2093B104309359 |
:1030E000B2044093B3045093B40410C01092B104DE |
:1030F0001092B2041092B3041092B4041092B5046A |
:103100001092B6041092B7041092B8048091B504DE |
:103110009091B604A091B704B091B8048E839F83B8 |
:10312000A887B9878091B1049091B204A091B304AB |
:10313000B091B4048A839B83AC83BD8380916D047A |
:10314000282E332444245524EF84F888A989BA8989 |
:10315000EA1AFB0AEE81FF81EE0EFF1E6A817B8177 |
:103160008C819D81A20191010E94B23B20E032E05E |
:1031700040E050E00E94263CE20EF31EF0927A07F7 |
:10318000E09279079701442737FD4095542F8091AD |
:103190002D0490912E04A0912F04B0913004820F41 |
:1031A000931FA41FB51F80932D0490932E04A0930A |
:1031B0002F04B093300480915A0490915B04E81A74 |
:1031C000F90A0027F7FC0095102F809129049091AF |
:1031D0002A04A0912B04B0912C04E80EF91E0A1FBA |
:1031E0001B1FE0922904F0922A0400932B041093F1 |
:1031F0002C04A0908B03B0908C03C0908D03D090D2 |
:103200008E03AE14BF04C006D106C4F480E197E279 |
:10321000A0E0B0E08A199B09AC09BD09809329049C |
:1032200090932A04A0932B04B0932C0480932D0434 |
:1032300090932E04A0932F04B093300422273327B9 |
:10324000A9012A193B094C095D0980912904909133 |
:103250002A04A0912B04B0912C0482179307A40791 |
:10326000B507B4F4D601C50180519742A040B040E3 |
:103270008093290490932A04A0932B04B0932C04E8 |
:1032800080932D0490932E04A0932F04B0933004C8 |
:103290008091C7039091C8030F9734F488E19CEFA5 |
:1032A00090937A07809379078091C7039091C80320 |
:1032B000079734F480E398EF90937A078093790727 |
:1032C000F0910001F983FA30A9F48091C70390913D |
:1032D000C803835F934034F088EE93E090937A07BD |
:1032E000809379078091C7039091C8038A5F9340C8 |
:1032F000DCF014C08091C7039091C803855E9740AD |
:1033000034F088EE93E090937A0780937907809168 |
:10331000C7039091C803835F974034F080ED97E036 |
:1033200090937A0780937907ED84FE848B859C8542 |
:10333000E81AF90AAA81BB81EA1AFB0A6E817F8129 |
:1033400088859985A20191010E94B23B20E032E07C |
:1033500040E050E00E94263CE21AF30AF092820715 |
:10336000E09281079701442737FD4095542F8091C3 |
:10337000250490912604A0912704B0912804820F7F |
:10338000931FA41FB51F8093250490932604A09338 |
:103390002704B093280480915C0490915D04E81A9E |
:1033A000F90A0027F7FC0095102F809121049091D5 |
:1033B0002204A0912304B0912404E80EF91E0A1FF0 |
:1033C0001B1FE0922104F092220400932304109327 |
:1033D0002404A0908703B0908803C0908903D09004 |
:1033E0008A03AE14BF04C006D106C4F480E197E29C |
:1033F000A0E0B0E08A199B09AC09BD0980932104C3 |
:1034000090932204A0932304B09324048093250472 |
:1034100090932604A0932704B093280422273327EF |
:10342000A9012A193B094C095D0980912104909159 |
:103430002204A0912304B091240482179307A407C7 |
:10344000B507B4F4D601C50180519742A040B04001 |
:103450008093210490932204A0932304B093240426 |
:103460008093250490932604A0932704B093280406 |
:103470008091C5039091C6030F9734F488E19CEFC7 |
:1034800090938207809381078091C5039091C60332 |
:10349000079734F480E398EF909382078093810735 |
:1034A000B981BA30A9F48091C5039091C603835FB6 |
:1034B000934034F088EE93E09093820780938107E5 |
:1034C0008091C5039091C6038A5F9340DCF014C0DD |
:1034D0008091C5039091C603855E974034F088EED5 |
:1034E00093E090938207809381078091C503909128 |
:1034F000C603835F974034F080ED97E09093820796 |
:10350000809381078FEE80937A0060921D04709201 |
:103510001E0480921F0490922004809121049091B7 |
:103520002204A0912304B091240480930104909379 |
:103530000204A0930304B0930404809129049091A1 |
:103540002A04A0912B04B0912C0480930904909339 |
:103550000A04A0930B04B0930C048091250490916D |
:103560002604A0912704B091280480930504909329 |
:103570000604A0930704B093080480912D04909151 |
:103580002E04A0912F04B091300480930D049093E9 |
:103590000E04A0930F04B09310048091390787FFA5 |
:1035A0003FC0BA85BB23E1F580915F048823C1F554 |
:1035B0002091810730918207293C310524F0C9010F |
:1035C0008052934007C0EFEF28333E076CF4C901E7 |
:1035D000805E9C4F220F331F220F331F280F391F8D |
:1035E00030938207209381072091790730917A07E1 |
:1035F000293C310524F0C9018052934007C0FFEFF8 |
:1036000028333F076CF4C901805E9C4F220F331FA3 |
:10361000220F331F280F391F30937A072093790721 |
:10362000209146043091470480913507E82FFF2709 |
:10363000EE0FFF1FEB5FF84F8081918182599F4F02 |
:10364000281739071CF42F5F3F4F0CC080819181F0 |
:1036500082599F4F821793074CF42115310531F0A1 |
:103660002150304030934704209346042091480471 |
:103670003091490480913607E82FFF27EE0FFF1F96 |
:10368000EB5FF84F8081918182599F4F281739074E |
:103690001CF42F5F3F4F0CC08081918182599F4F56 |
:1036A000821793074CF42115310531F02150304039 |
:1036B000309349042093480420914A0430914B04EC |
:1036C00080913707E82FFF27EE0FFF1FEB5FF84FC2 |
:1036D0008081918182599F4F281739071CF42F5FF1 |
:1036E0003F4F0CC08081918182599F4F8217930771 |
:1036F0004CF42115310531F02150304030934B040A |
:1037000020934A0420914C0430914D048091380755 |
:10371000E82FFF27EE0FFF1FEB5FF84F80819181AD |
:1037200082599F4F281739071CF42F5F3F4F0CC059 |
:103730008081918182599F4F821793074CF4211504 |
:10374000310531F02150304030934D0420934C042A |
:10375000809146049091470497FF05C0109247045A |
:10376000109246040AC08F3F910539F034F08FEF74 |
:1037700090E0909347048093460480914804909190 |
:10378000490497FF05C010924904109248040AC0EA |
:103790008F3F910539F034F08FEF90E0909349041A |
:1037A0008093480480914A0490914B0497FF05C090 |
:1037B00010924B0410924A040AC08F3F910539F0D1 |
:1037C00034F08FEF90E090934B0480934A04809103 |
:1037D0004C0490914D0497FF05C010924D04109237 |
:1037E0004C040AC08F3F910539F034F08FEF90E020 |
:1037F00090934D0480934C04E2E1CE5E0C945D3CCA |
:1038000010927A008091C5039091C603909382072D |
:10381000809381078091C7039091C80390937A07A2 |
:10382000809379078091C9039091CA039093A1076F |
:103830008093A0076091CD037091CE03882777FD18 |
:103840008095982F2CE030E040E050E00E94B23BA1 |
:1038500070939E0760939D076091CB037091CC039A |
:10386000882777FD8095982F0E94B23B7093A80718 |
:103870006093A7078091CF039091D003909389071D |
:10388000809388078FEE80937A00209146043091D0 |
:10389000470480913507E82FFF27EE0FFF1FEB5FEE |
:1038A000F84F8081918182599F4F281739071CF466 |
:1038B0002F5F3F4F0CC08081918182599F4F8217AB |
:1038C00093074CF42115310531F0215030403093ED |
:1038D0004704209346042091480430914904809184 |
:1038E0003607E82FFF27EE0FFF1FEB5FF84F8081B1 |
:1038F000918182599F4F281739071CF42F5F3F4F42 |
:103900000CC08081918182599F4F821793074CF49C |
:103910002115310531F02150304030934904209376 |
:10392000480420914A0430914B0480913707E82FD6 |
:10393000FF27EE0FFF1FEB5FF84F808191818259C7 |
:103940009F4F281739071CF42F5F3F4F0CC0808111 |
:10395000918182599F4F821793074CF421153105AD |
:1039600031F02150304030934B0420934A04209191 |
:103970004C0430914D0480913807E82FFF27EE0F5B |
:10398000FF1FEB5FF84F8081918182599F4F28176D |
:1039900039071CF42F5F3F4F0CC080819181825901 |
:1039A0009F4F821793074CF42115310531F02150B8 |
:1039B000304030934D0420934C0480914604909104 |
:1039C000470497FF05C010924704109246040AC0AE |
:1039D0008F3F910539F034F08FEF90E090934704DA |
:1039E00080934604809148049091490497FF05C054 |
:1039F00010924904109248040AC08F3F910539F093 |
:103A000034F08FEF90E090934904809348048091C4 |
:103A10004A0490914B0497FF05C010924B041092FA |
:103A20004A040AC08F3F910539F034F08FEF90E0DF |
:103A300090934B0480934A0480914C0490914D04E0 |
:103A400097FF05C010924D0410924C040AC08F3F9E |
:103A5000910539F034F08FEF90E090934D0480930E |
:103A60004C0460915C0777278827992724EC39E07C |
:103A700040E050E00E94B23B60938703709388035C |
:103A80008093890390938A0360938B0370938C03D4 |
:103A900080938D0390938E0308951F9380913C072C |
:103AA0008B3F98F08B3F19F4809146040EC08C3FF9 |
:103AB00019F48091480409C08D3F19F480914A049B |
:103AC00004C08E3F21F480914C0480939403809134 |
:103AD0009403882319F41092940304C08F3F11F4C7 |
:103AE0008093940380913B078B3F98F08B3F19F4B0 |
:103AF000809146040EC08C3F19F48091480409C09F |
:103B00008D3F19F480914A0404C08E3F21F48091C6 |
:103B10004C048093930380919303882319F41092AB |
:103B2000930305C0843618F084E680939303809154 |
:103B30003D078B3F98F08B3F19F4809146040EC0EF |
:103B40008C3F19F48091480409C08D3F19F480918D |
:103B50004A0404C08E3F21F480914C048093950365 |
:103B600080919503882319F41092950305C084363B |
:103B700018F084E68093950380913F078B3F98F07F |
:103B80008B3F19F4809146040EC08C3F19F480914C |
:103B9000480409C08D3F19F480914A0404C08E3F47 |
:103BA00021F480914C04809396038091960388239E |
:103BB00019F41092960304C08F3F11F4809396037A |
:103BC000809146078B3F98F08B3F19F48091460413 |
:103BD0000EC08C3F19F48091480409C08D3F19F440 |
:103BE00080914A0404C08E3F21F480914C0480935C |
:103BF000970380919703882319F41092970304C0C8 |
:103C00008F3F11F480939703809147078B3F98F083 |
:103C10008B3F19F4809146040EC08C3F19F48091BB |
:103C2000480409C08D3F19F480914A0404C08E3FB6 |
:103C300021F480914C0480939803809198038B30F9 |
:103C400010F48AE002C08F3F11F4809398038091B2 |
:103C500048078B3F98F08B3F19F4809146040EC0C3 |
:103C60008C3F19F48091480409C08D3F19F480916C |
:103C70004A0404C08E3F21F480914C048093990340 |
:103C800080919903882319F41092990304C08F3FFF |
:103C900011F48093990380914D078B3F98F08B3FEF |
:103CA00019F4809146040EC08C3F19F480914804A9 |
:103CB00009C08D3F19F480914A0404C08E3F21F45D |
:103CC00080914C0480939B0380919B03882319F47B |
:103CD00010929B0304C08F3F11F480939B0380914B |
:103CE0004E078B3F98F08B3F19F4809146040EC02D |
:103CF0008C3F19F48091480409C08D3F19F48091DC |
:103D00004A0404C08E3F21F480914C0480936404E3 |
:103D100080916404882319F41092640404C08F3FD6 |
:103D200011F48093640480914F078B3F98F08B3F90 |
:103D300019F4809146040EC08C3F19F48091480418 |
:103D400009C08D3F19F480914A0404C08E3F21F4CC |
:103D500080914C048093650480916504882319F454 |
:103D60001092650404C08F3F11F480936504809124 |
:103D700050078B3F98F08B3F19F4809146040EC09A |
:103D80008C3F19F48091480409C08D3F19F480914B |
:103D90004A0404C08E3F21F480914C048093660451 |
:103DA00080916604882319F41092660404C08F3F42 |
:103DB00011F480936604809151078B3F98F08B3FFC |
:103DC00019F4809146040EC08C3F19F48091480488 |
:103DD00009C08D3F19F480914A0404C08E3F21F43C |
:103DE00080914C048093670480916704882319F4C0 |
:103DF0001092670404C08F3F11F480936704809190 |
:103E000061078B3F98F08B3F19F4809146040EC0F8 |
:103E10008C3F19F48091480409C08D3F19F48091BA |
:103E20004A0404C08E3F21F480914C0480936804BE |
:103E300080916804882319F41092680404C08F3FAD |
:103E400011F480936804809162078B3F98F08B3F58 |
:103E500019F4809146040EC08C3F19F480914804F7 |
:103E600009C08D3F19F480914A0404C08E3F21F4AB |
:103E700080914C048093690480916904882319F42B |
:103E80001092690404C08F3F11F4809369048091FB |
:103E900063078B3F98F08B3F19F4809146040EC066 |
:103EA0008C3F19F48091480409C08D3F19F480912A |
:103EB0004A0404C08E3F21F480914C0480936A042C |
:103EC00080916A04882319F410926A0404C08F3F19 |
:103ED00011F480936A04809164078B3F98F08B3FC4 |
:103EE00019F4809146040EC08C3F19F48091480467 |
:103EF00009C08D3F19F480914A0404C08E3F21F41B |
:103F000080914C0480936B0480916B04882319F496 |
:103F100010926B0404C08F3F11F480936B04809166 |
:103F200052078B3F98F08B3F19F4809146040EC0E6 |
:103F30008C3F19F48091480409C08D3F19F4809199 |
:103F40004A0404C08E3F21F480914C0480939C036A |
:103F500080919C03882319F410929C0304C08F3F26 |
:103F600011F480939C03809157078B3F98F08B3F0F |
:103F700019F4809146040EC08C3F19F480914804D6 |
:103F800009C08D3F19F480914A0404C08E3F21F48A |
:103F900080914C0480939D0380919D03882319F4A4 |
:103FA00010929D0304C08F3F11F480939D03809174 |
:103FB0005A078B3F98F08B3F19F4809146040EC04E |
:103FC0008C3F19F48091480409C08D3F19F4809109 |
:103FD0004A0404C08E3F21F480914C0480936C0409 |
:103FE00080916C04882319F410926C0404C08F3FF4 |
:103FF00011F480936C0480915B078B3F98F08B3FAA |
:1040000019F4809146040EC08C3F19F48091480445 |
:1040100009C08D3F19F480914A0404C08E3F21F4F9 |
:1040200080914C0480936D0480916D04882319F471 |
:1040300010926D0404C08F3F11F480936D04809141 |
:1040400060078B3F98F08B3F19F4809146040EC0B7 |
:104050008C3F19F48091480409C08D3F19F4809178 |
:104060004A0404C08E3F21F480914C0480939E0347 |
:1040700080919E03882319F410929E0304C08F3F01 |
:1040800011F480939E0310919B03612F772767FDA6 |
:104090007095872F972F0E94F03A17FF06C020E0F7 |
:1040A00030E040E853E40E944B3A27E137EB41ED22 |
:1040B00058E30E946A3B60938F0370939003809350 |
:1040C0009103909392038091440780939F0780917E |
:1040D0004307809383071F91089580915504882397 |
:1040E00001F51092800710927B07109298071092AA |
:1040F0009A078091AE03882311F080937B0780910B |
:10410000AF03882311F0809380078091B003882348 |
:1041100011F080939A078091B103882311F0809366 |
:10412000980780917B0799279093C3068093C206D6 |
:104130008091800799279093C5068093C40680914B |
:104140009A0799279093C7068093C606809198078F |
:1041500099279093C9068093C8061092E80310929D |
:10416000E9030E944D1508951092FA031092F90385 |
:104170001092FC031092FB0380E090E0A0E0B0E01E |
:104180008093FD039093FE03A093FF03B09300047C |
:104190001092F0031092EF031092F2031092F103C9 |
:1041A0001092F4031092F30310926C0410926D04B9 |
:1041B0000E94001C84E690E00E94CC0D0E94001C2E |
:1041C0008091390780FF10C080910E0390910F03FA |
:1041D000875B934038F480910E0390910F038E5EBD |
:1041E000924010F40E9476104091C5035091C6038E |
:1041F0005093F0034093EF032091C7033091C8031D |
:104200003093F2032093F1038091C9039091CA0384 |
:104210009093F4038093F3033093F6032093F50314 |
:104220005093F8034093F70344E050E0DA010E9412 |
:104230007E3C802D853038F18091A7079091A807AA |
:1042400097FF03C0909581959F4F6CE070E00E94AE |
:10425000F13B7093FC036093FB0380919D07909169 |
:104260009E0797FF03C0909581959F4F6CE070E08B |
:104270000E94F13B7093FA036093F9036091ED069D |
:104280007091EE0639C0DA010E947E3C802D4F5FAE |
:104290005F4FDA010E947E3C202D9927982F8827B6 |
:1042A000820F911D9093FA038093F9034F5F5F4F44 |
:1042B000DA010E947E3C802D4F5F5F4FDA010E9441 |
:1042C0007E3C202D9927982F8827820F911D90934F |
:1042D000FC038093FB034F5F5F4FDA010E947E3C3B |
:1042E000602D4F5F5F4FDA010E947E3C202D7727C3 |
:1042F000762F6627620F711D882777FD8095982F8E |
:104300000E94F03A6093FD037093FE038093FF03D5 |
:10431000909300041092210410922204109223041E |
:10432000109224041092250410922604109227045F |
:10433000109228041092290410922A0410922B043F |
:1043400010922C0410922D0410922E0410922F041F |
:1043500010923004109231041092320410923304FF |
:1043600010923404109282071092810710927A07FB |
:10437000109279071092A1071092A00780910A036A |
:1043800090910B03A0910C03B0910D039093F00654 |
:104390008093EF061092D8031092D703109239043D |
:1043A00010923A0410923B0410923C0480913D0418 |
:1043B00090913E049093400480933F040E94C7363E |
:1043C00082E390E09093C1038093C00360915C0707 |
:1043D00077278827992724EC39E040E050E00E94B5 |
:1043E000B23B609387037093880380938903909313 |
:1043F0008A0360915D077727882799270E94B23B3F |
:1044000060938B0370938C0380938D0390938E0342 |
:104410001092A00310929F0308951F93182F0EC0AF |
:1044200080915504882361F484E690E09093C10361 |
:104430008093C0038AEF90E00E94E20D115080F754 |
:104440001F91089581E08093310752E05093320725 |
:1044500043E04093330774E07093340765E0609362 |
:10446000350786E08093360787E08093370798E02A |
:104470009093380780EC809339078EE180933A0758 |
:104480008BEF80933C073AE030933D0722E3209383 |
:104490003B0720933F0750933E07409340071092FD |
:1044A0004107909342078FE0809343078AEF809300 |
:1044B00044078AE18093450780E88093460788ECAB |
:1044C000809347078FEA809348078EE580934907DA |
:1044D00083E280934A0784E180934B0710924C0754 |
:1044E00030934D0780E580934E0710924F0710924E |
:1044F00050071092510710926107109262071092B4 |
:1045000063071092640794E69093520788E28093C1 |
:104510005307109266072093540786E98093550746 |
:1045200060935607209357078AE580935807209396 |
:1045300059071092650790935A0730935B07909341 |
:104540005C0790935D0790935E0770935F072093DD |
:104550006007ABE6B7E0ECE6F3E08CE001900D928B |
:104560008150E1F7089581E08093310792E09093C4 |
:10457000320783E08093330744E04093340755E0EB |
:104580005093350786E08093360787E0809337079E |
:1045900088E08093380780E4809339078EE1809328 |
:1045A0003A078BEF80933C073AE030933D0722E3D4 |
:1045B00020933B0720933F0790933E07409340078B |
:1045C00010924107309342078FE0809343078AEFB0 |
:1045D000809344078AE18093450780E880934607EB |
:1045E0008FEA80934707809348078EE580934907B9 |
:1045F00083E280934A0784E180934B0710924C0733 |
:1046000080E280934D0780E580934E0710924F071C |
:104610001092500710925107109261071092620792 |
:10462000109263071092640794E69093520788E211 |
:1046300080935307109266072093540786E980936E |
:10464000550750935607209357078AE580935807DC |
:10465000209359071092650790935A0730935B0790 |
:1046600090935C0790935D0790935E0740935F077C |
:104670008BE480936007ABE6B7E0E6E7F3E08CE01D |
:1046800001900D928150E1F7089581E08093310708 |
:1046900082E08093320783E08093330734E03093E5 |
:1046A000340765E06093350786E08093360787E03E |
:1046B0008093370798E09093380780E48093390718 |
:1046C0008EE180933A078BEF80933C075AE050933A |
:1046D0003D0722E320933B0720933F0730933E079B |
:1046E00030934007909341078EE0809342078FE01C |
:1046F000809343078AEF809344078AE180934507BC |
:1047000090E89093460788E78093470746E94093EF |
:1047100048078EE58093490783E280934A0784E146 |
:1047200080934B0710924C0780E280934D07909343 |
:104730004E0710924F071092500710925107109297 |
:10474000610710926207109263071092640794E663 |
:104750009093520788E28093530710926607209344 |
:1047600054074093550760935607209357078AE5EF |
:1047700080935807209359071092650790935A0722 |
:1047800050935B0790935C0790935D0720935E07BF |
:1047900030935F0790936007ABE6B7E0EEE7F3E096 |
:1047A0008CE001900D928150E1F70895A6E3B0E00E |
:1047B000ECEDF3E20C94413C0E94D016299AE09172 |
:1047C0003307FF27EE0FFF1FEB5FF84F0190F081DB |
:1047D000E02DE858FF4F80919F0799274497E817ED |
:1047E000F9070CF4CF019A83898397FF02C01A82DC |
:1047F000198280914E04843608F05DC080910301D7 |
:10480000882399F480910403909105038F5F9F4F53 |
:1048100061F488E99AE39093C1038093C00380E038 |
:104820009CE09093050380930403809193049091FE |
:104830009404009731F0019790939404809393042B |
:1048400004C01092550410924404809100018A30F3 |
:1048500011F4289A01C0289880918E0490918F04B9 |
:10486000815D974028F180914A07482F55275A8348 |
:10487000498381E080934404E0913107FF27EE0FE4 |
:10488000FF1FEB5FF84F11821082E0913207FF2784 |
:10489000EE0FFF1FEB5FF84F11821082E09134079B |
:1048A000FF27EE0FFF1FEB5FF84F118210824FC200 |
:1048B000109255044CC280914E048D3808F447C2C2 |
:1048C0001092440480914B0722E3829FC00111247F |
:1048D000909394048093930489819A8189976CF0D2 |
:1048E00080918E0490918F04AFEF8F3F9A0781F1F2 |
:1048F000019690938F0480938E0480918E04909102 |
:104900008F04883C910520F0E981FA81B89704F57D |
:104910001092AD041092AE041092AF041092B00445 |
:104920001092A9041092AA041092AB041092AC0445 |
:104930001092310410923204109233041092340415 |
:1049400010923504109236041092370410923804F5 |
:1049500029813A81293C31050CF459C180915504D3 |
:10496000882309F0F4C180913407E82FFF27EE0F68 |
:10497000FF1FEB5FF84F808191818C3491050CF41F |
:10498000BCC0809192048F5F80939204893C08F4AC |
:10499000DEC12998109255041092920410928F044F |
:1049A00010928E0480913107282F3327F901EE0FE2 |
:1049B000FF1FEB5FF84F80819181873491059CF454 |
:1049C000E0913207FF27EE0FFF1FEB5FF84F0190DA |
:1049D000F081E02DF7FF03C0F095E195FF4FE7343C |
:1049E000F1050CF46CC080913207682F7727DB014A |
:1049F000AA0FBB1FAB5FB84F8D919C911197873465 |
:104A000091053CF0F901EE0FFF1FEB5FF84F80813D |
:104A100091818D919C918734910564F0F901EE0F9D |
:104A2000FF1FEB5FF84F808191818734910514F06F |
:104A300042E001C041E0FB01EE0FFF1FEB5FF84FCA |
:104A400080819181863491055CF4F901EE0FFF1F9E |
:104A5000EB5FF84F80819181873491050CF043E042 |
:104A6000FB01EE0FFF1FEB5FF84F808191818A5BA6 |
:104A70009F4F5CF4F901EE0FFF1FEB5FF84F808151 |
:104A80009181873491050CF044E0660F771F6B5FCE |
:104A9000784FDB018D919C918A5B9F4F5CF4220FD4 |
:104AA000331F2B5F384FF901808191818634910546 |
:104AB0000CF445E0A2E0B0E0042E0E948B3C809113 |
:104AC000390780FF10C080910E0390910F03875B20 |
:104AD000934038F480910E0390910F038E5E9240C4 |
:104AE00010F40E9476100E94AD0346E461E377E083 |
:104AF0000E94D6030E94B42082C080819181855B90 |
:104B00009F4F0CF081C0809192048F5F809392043C |
:104B1000893C08F41CC129988FEF04E010E0D8010B |
:104B2000082E0E948B3C1092550410929204109211 |
:104B30008F0410928E040E94B4208091F90390910A |
:104B4000FA0360E071E00E94F13BD801062E0E945A |
:104B50008B3C8091F9039091FA0360E071E00E9430 |
:104B6000F13B0F5F1F4FD801082E0E948B3C8091B4 |
:104B7000FB039091FC0360E071E00E94F13B0F5F4A |
:104B80001F4FD801062E0E948B3C8091FB03909111 |
:104B9000FC0360E071E00E94F13B0F5F1F4FD80102 |
:104BA000082E0E948B3C6091FD037091FE03809162 |
:104BB000FF03909100040E94D33ADC01CB0160E036 |
:104BC00071E00E94F13B0F5F1F4FD801062E0E943B |
:104BD0008B3C6091FD037091FE038091FF039091E7 |
:104BE00000040E94D33ADC01CB0160E071E00E9436 |
:104BF000F13B0F5F1F4FD801082E0E948B3C0E9493 |
:104C0000AD030E940D22A3C010929204A0C0E981BE |
:104C1000FA81B3970CF09BC080913407482F552739 |
:104C2000FA01EE0FFF1FEB5FF84F80819181855BEA |
:104C30009F4F0CF06DC0809191048F5F8093910421 |
:104C4000893C08F467C088EC8093910481E090E08F |
:104C500090938F0480938E0481E08093550410928A |
:104C6000A5041092A6041092A7041092A804109212 |
:104C700031041092320410923304109234041092D2 |
:104C800035041092360410923704109238041092B2 |
:104C900021041092220410922304109224041092F2 |
:104CA000290410922A0410922B0410922C04809153 |
:104CB000010490910204A0910304B0910404809334 |
:104CC000250490932604A0932704B0932804809190 |
:104CD000090490910A04A0910B04B0910C048093F4 |
:104CE0002D0490932E04A0932F04B09330041092BF |
:104CF000AD041092AE041092AF041092B004109262 |
:104D0000A9041092AA041092AB041092AC0402C041 |
:104D100010929104440F551F4B5F584FDA018D914B |
:104D20009C918C3491058CF0809190048F5F8093DE |
:104D30009004893C60F01092550488EC80939004B4 |
:104D400010928F0410928E0402C0109290048091F1 |
:104D50006B03815080936B0380916B038F3F29F02D |
:104D600080914404882309F4FCC20E944D1D809167 |
:104D70003107A82EBB24D501AA0FBB1FFD01EB5F95 |
:104D8000F84F0190F081E02DFCABEBAB8091400738 |
:104D9000E82EFF24A55EB84F0D90BC91A02DBAA7B8 |
:104DA000A9A780914107482E552480913207C82E2B |
:104DB000DD24C601880F991FDC01AB5FB84F0D9051 |
:104DC000BC91A02DB8A7AFA3855E984FFC012080B1 |
:104DD0003180E0913407AE2FBB27AA0FBB1FAB5F1A |
:104DE000B84F0D90BC91A02DBCA3ABA3109198031C |
:104DF000612F772767FD7095872F972F0E94F03AD4 |
:104E000017FF06C020E030E040E853E40E944B3A30 |
:104E100020E030E040E251E40E944B3A20E030E0F4 |
:104E200040E85BE30E946A3B3B014C016093A207B0 |
:104E30007093A3078093A4079093A50710919903FB |
:104E4000612F772767FD7095872F972F0E94F03A83 |
:104E500017FF06C020E030E040E853E40E944B3AE0 |
:104E600020E030EE4BE257E40E948D3A60939407C5 |
:104E70007093950780939607909397072091B303BB |
:104E8000222311F40C94F2358AE090E09093C10350 |
:104E90008093C003E22FFF27E2FF09C080916404E2 |
:104EA000482F5527440F551F440F551F10C0E3FDD1 |
:104EB00003C040E050E00BC0809164049927880F44 |
:104EC000991F880F991F44275527481B590B20917C |
:104ED0006E0430916F04C901F3E0880F991FFA95B1 |
:104EE000E1F7821B930B840F951F68E070E00E942E |
:104EF000F13B8B0170936F0460936E04E4FF09C073 |
:104F000080916404482F5527440F551F440F551FA7 |
:104F10000FC0E5FD02C00C94073680916404992708 |
:104F2000880F991F880F991F44275527481B590B35 |
:104F30002091700430917104C90163E0880F991FBA |
:104F40006A95E1F7821B930B840F951F68E070E070 |
:104F50000E94F13B7EAB6DAB709371046093700463 |
:104F60008091B203282F332723FF03C082E390E010 |
:104F700004C022FF07C08EEC9FEF909373048093D0 |
:104F8000720404C0109273041092720421FF09C0CD |
:104F900080919F039091A00301969093A00380932A |
:104FA0009F0324FF09C080919F039091A003019764 |
:104FB0009093A00380939F034BA95CA94E9D900101 |
:104FC0004F9D300D5E9D300D1124A9A5BAA5A49D5D |
:104FD000C001A59D900DB49D900D1124280F391F7F |
:104FE000C80168E070E00E94F13B260F371F3CAB20 |
:104FF0002BAB3093500420934F04EFA1F8A5EE9D06 |
:105000008001EF9D100DFE9D100D1124249CC00108 |
:10501000259C900D349C900D1124080F191F8DA90B |
:105020009EA968E070E00E94F13B060F171F1093E5 |
:1050300052040093510480917204909173042BA147 |
:105040003CA1821B930B9093540480935304809152 |
:10505000390782FF0CC080E090E0A0E0B0E08093D0 |
:10506000940790939507A0939607B093970720E035 |
:1050700030E040E050E0C401B3010E94FA3A8823D6 |
:1050800064F480E090E0A0E0B0E08093A207909309 |
:10509000A307A093A407B093A50720E030E040E069 |
:1050A00050E06091940770919507809196079091D8 |
:1050B00097070E94FA3A882364F480E090E0A0E029 |
:1050C000B0E08093940790939507A0939607B093D0 |
:1050D000970780916507682F772784E0882E912CA9 |
:1050E0008622972262FD7FC063FD7DC0209101046E |
:1050F00030910204409103045091040421368AEE59 |
:10510000380780E0480780E05807E4F0C701B3E0C3 |
:10511000880F991FBA95E1F7EBA9FCA9E81BF90BD9 |
:10512000F0935004E0934F042158384341405040DD |
:10513000E4F0C701A4E0880F991FAA95E1F7E81BE6 |
:10514000F90B0FC0205A35414F4F5F4F74F4C70120 |
:10515000E3E0880F991FEA95E1F7EBA9FCA9E80FB6 |
:10516000F91FF0935004E0934F042091090430910B |
:105170000A0440910B0450910C042136FAEE3F07CB |
:10518000F0E04F07F0E05F07F4F0C70173E0880F2D |
:10519000991F7A95E1F7D801A81BB90BB093520477 |
:1051A000A09351042158384341405040E4F094E02A |
:1051B000EE0CFF1C9A95E1F7AE19BF09B0935204AB |
:1051C000A093510410C0205A35414F4F5F4F5CF4FB |
:1051D00083E0EE0CFF1C8A95E1F70E0D1F1D109366 |
:1051E000520400935104F601EE0FFF1FEB5FF84FDE |
:1051F0002081318180915807482F55274217530746 |
:1052000034F4892821F081E08093600411C0F60114 |
:10521000EE0FFF1FEB5FF84F20813181809159071E |
:10522000DA01A81BB1092A173B0714F41092600495 |
:10523000F601EE0FFF1FEB5FF84F80819181AA27E7 |
:10524000BB27A41BB50B8A179B0734F463FF04C06C |
:1052500081E08093610417C080916104882399F0F4 |
:10526000CC0CDD1CE5E0F7E0CE0EDF1EF601208160 |
:105270003181809159079927841B950B82179307D9 |
:1052800014F410926104F501EE0FFF1FEB5FF84F6D |
:10529000808191814817590734F460FF04C081E090 |
:1052A0008093630415C080916304882389F0F5011D |
:1052B000EE0FFF1FEB5FF84F20813181809159077E |
:1052C000FA01E81BF1092E173F0714F4109263044A |
:1052D000F501EE0FFF1FEB5FF84F808191818A1778 |
:1052E0009B0734F461FF04C081E08093620417C01F |
:1052F00080916204882399F0AA0CBB1C25E037E05A |
:10530000A20EB31ED5012D913C918091590799278A |
:10531000841B950B8217930714F4109262048091FA |
:105320006004882321F480916104882321F081E0C6 |
:1053300080935F0402C010925F048091630488230D |
:1053400021F480916204882351F081E080935E040F |
:1053500010925F0410926004109261040EC01092CB |
:105360005E0480915F04882311F40C940B3684E66C |
:1053700090E09093C1038093C003809157079927D1 |
:10538000E981FA818E179F0714F49A8389838091AB |
:105390004404882341F11092540410925304109253 |
:1053A000500410924F0410925204109251048DEC4C |
:1053B0009CECACECBDE38093A2079093A307A09371 |
:1053C000A407B093A5078AE097EDA3EABBE3809317 |
:1053D000940790939507A0939607B0939707109220 |
:1053E0005F0410925E042091010430910204409108 |
:1053F0000304509104042FA738AB49AB5AAB8091FA |
:105400008C0790918D07A0918E07B0918F07820F26 |
:10541000931FA41FB51F80938C0790938D07A093B3 |
:105420008E07B0938F078091090490910A04A09190 |
:105430000B04B0910C048BA79CA7ADA7BEA78091CD |
:10544000900790919107A0919207B09193072BA597 |
:105450003CA54DA55EA5820F931FA41FB51F809389 |
:10546000900790939107A0939207B0939307809130 |
:10547000050490910604A0910704B09108048F8F51 |
:1054800098A3A9A3BAA38091840790918507A091BE |
:105490008607B09187072F8D38A149A15AA1820FA5 |
:1054A000931FA41FB51F8093840790938507A09333 |
:1054B0008607B093870780910D0490910E04A09108 |
:1054C0000F04B09110048B8F9C8FAD8FBE8F809195 |
:1054D0007C0790917D07A0917E07B0917F072B8D6F |
:1054E0003C8D4D8D5E8D820F931FA41FB51F809341 |
:1054F0007C0790937D07A0937E07B0937F079090E1 |
:105500005E04992011F00C94633680915F04882327 |
:1055100011F00C9463360C94133680EEA8168FEFBE |
:10552000B8068FEFC8068FEFD80644F480EEA82E99 |
:105530008FEFB82E8FEFC82E8FEFD82E2132310586 |
:105540004105510534F010E2E12EF12C012D112D11 |
:105550000DC0205E3F4F4F4F5F4F44F4B0EEEB2E37 |
:10556000BFEFFB2EBFEF0B2FBFEF1B2F809121044E |
:1055700090912204A0912304B09124048A199B09DC |
:10558000AC09BD098093210490932204A0932304C5 |
:10559000B09324048091290490912A04A0912B04B3 |
:1055A000B0912C048E199F09A00BB10B8093290494 |
:1055B00090932A04A0932B04B0932C048091D903D8 |
:1055C0009091DA038F3F910509F008F4ADC499205A |
:1055D00009F02EC480915F04882309F029C46091EA |
:1055E0008C0770918D0780918E0790918F0720E036 |
:1055F00031E040E050E00E94263C19012A0120934E |
:105600008C0730938D0740938E0750938F076091DE |
:10561000900770919107809192079091930720E0F5 |
:1056200031E040E050E00E94263C2F8B388F498FBC |
:105630005A8F20939007309391074093920750938D |
:105640009307E0904507FF240027112720911104BC |
:10565000309112044091130450911404C801B70111 |
:105660000E94B23B20E031E040E050E00E94263C46 |
:1056700039014A012093110430931204409313041A |
:10568000509314042091150430911604409117048E |
:1056900050911804C801B7010E94B23B20E031E0EC |
:1056A00040E050E00E94263C59016A012093150415 |
:1056B0003093160440931704509318046091190412 |
:1056C00070911A0480911B0490911C0420E031E039 |
:1056D00040E050E00E94263C2093190430931A04C5 |
:1056E00040931B0450931C04C201B1016619770951 |
:1056F00088099909E0905E07FF2400271127A80177 |
:1057000097010E94263C209386043093870440939F |
:10571000880450938904CA01B90120E031E040E0D7 |
:1057200050E00E94263C3E8B2D8B30935D042093ED |
:105730005C046F89788D898D9A8D6A197B098C0933 |
:105740009D09A80197010E94263C79018A01CA019E |
:10575000B90120E031E040E050E00E94263C3CAB43 |
:105760002BAB30935B0420935A04609184077091B3 |
:105770008507809186079091870720E031E040E01F |
:1057800050E00E94263C2093840730938507409385 |
:1057900086075093870760917C0770917D07809101 |
:1057A0007E0790917F0720E031E040E050E00E94CA |
:1057B000263C20937C0730937D0740937E075093CF |
:1057C0007F072F8D38A149A15AA18FA598A9A9A912 |
:1057D000BAA9281B390B4A0B5B0B298B3A8B4B8BD5 |
:1057E0005C8B2093A1043093A2044093A3045093B4 |
:1057F000A4042B8D3C8D4D8D5E8D8BA59CA5ADA5F8 |
:10580000BEA5281B390B4A0B5B0B2D873E874F87A4 |
:10581000588B20939D0430939E0440939F04509393 |
:10582000A00429893A894B895C8920939904309393 |
:105830009A0440939B0450939C048D859E85AF856C |
:10584000B8898093950490939604A0939704B0939D |
:1058500098048091250490912604A0912704B0918A |
:105860002804821B930BA40BB50B80932504909303 |
:105870002604A0932704B093280480912D049091CE |
:105880002E04A0912F04B09130042D853E854F85C4 |
:105890005889821B930BA40BB50B80932D04909316 |
:1058A0002E04A0932F04B0933004C401B3012AE165 |
:1058B00030E040E050E00E94263C3093CD0620933B |
:1058C000CC06C601B5012AE130E040E050E00E947C |
:1058D000263C3093CF062093CE0649895A895093AF |
:1058E000D1064093D0068D859E859093D3068093F4 |
:1058F000D206C201B1012AE130E040E050E00E944E |
:10590000263C3093D5062093D4066F89788D898DF7 |
:105910009A8D2AE130E040E050E00E94263C30932E |
:10592000D7062093D606F092E506E092E4068BA90E |
:105930009CA9880F991F2BA93CA9F3E0220F331FC4 |
:10594000FA95E1F7820F931F9093E7068093E6069E |
:1059500081E090E0909381048093800480917804AA |
:1059600090917904A0917A04B0917B0482199309F3 |
:10597000A409B509815E914BAF4FBF4F8F539C492E |
:10598000A040B04008F0C5C029893A894B895C899C |
:10599000213080E1380780E0480780E058070CF4A8 |
:1059A00050C080917F04882309F447C0DA01C901FF |
:1059B000ECE0B595A79597958795EA95D1F701966F |
:1059C0009093810480938004DA01C90173E0B59556 |
:1059D000A795979587957A95D1F7809386049093AC |
:1059E0008704A0938804B093890489589341A04008 |
:1059F000B04064F088E893E1A0E0B0E080938604D2 |
:105A000090938704A0938804B093890460918604DE |
:105A100070918704809188049091890420E031E09E |
:105A200040E050E00E94263C8D899E89820F931FA2 |
:105A300090935D0480935C0469C081E080937F044F |
:105A400065C010927F0429893A894B895C8920308E |
:105A500080EF38078FEF48078FEF58070CF056C0DC |
:105A600080917E04882309F44DC0DA01C901B09504 |
:105A7000A095909581959F4FAF4FBF4F6CE0B59526 |
:105A8000A795979587956A95D1F70196909381048C |
:105A900080938004CA01B90128E030E040E050E082 |
:105AA0000E94263C20938604309387044093880408 |
:105AB0005093890428573C4E4F4F5F4F64F488E75A |
:105AC0009CEEAFEFBFEF8093860490938704A09382 |
:105AD0008804B09389046091860470918704809152 |
:105AE00088049091890420E031E040E050E00E9479 |
:105AF000263CAD89BE89A20FB31FB0935D04A0936D |
:105B00005C040BC081E080937E0407C010927E0489 |
:105B100004C0109281041092800480915F07082FC6 |
:105B2000112780918004909181040817190724F4AB |
:105B3000109381040093800429893A894B895C89F8 |
:105B400021503440404050405CF08091EF039091F0 |
:105B5000F0032091800430918104820F931F13C0C1 |
:105B600029893A894B895C8920503C4F4F4F5F4FC0 |
:105B700074F48091EF039091F003209180043091B0 |
:105B80008104821B930B9093F0038093EF0381E0D9 |
:105B900090E090938104809380041092820410928C |
:105BA000830410928404109285048091740490916F |
:105BB0007504A0917604B09177042F89388D498DB2 |
:105BC0005A8D821B930BA40BB50B815E914BAF4F8B |
:105BD000BF4F8F539C49A040B04008F0C6C08D8590 |
:105BE0009E85AF85B88981509041A040B0400CF4AB |
:105BF00054C080917D04882309F44BC08D859E8517 |
:105C0000AF85B8893CE0B595A795979587953A9566 |
:105C1000D1F7019690938104809380048D859E85B1 |
:105C2000AF85B88923E0B595A795979587952A956F |
:105C3000D1F78093820490938304A0938404B0935B |
:105C4000850489589341A040B04064F088E893E10E |
:105C5000A0E0B0E08093820490938304A093840436 |
:105C6000B0938504609182047091830480918404D0 |
:105C70009091850420E031E040E050E00E94263C15 |
:105C80008BA99CA9820F931F90935B0480935A0465 |
:105C900069C081E080937D0465C010927D042D85EC |
:105CA0003E854F855889203080EF38078FEF4807B1 |
:105CB0008FEF58070CF056C080917C04882309F4BC |
:105CC0004DC0DA01C901B095A095909581959F4F7F |
:105CD000AF4FBF4FFCE0B595A79597958795FA957F |
:105CE000D1F701969093810480938004CA01B90191 |
:105CF00028E030E040E050E00E94263C20938204FF |
:105D000030938304409384045093850428573C4E79 |
:105D10004F4F5F4F64F488E79CEEAFEFBFEF809387 |
:105D2000820490938304A0938404B09385046091CB |
:105D3000820470918304809184049091850420E012 |
:105D400031E040E050E00E94263CABA9BCA9A20F84 |
:105D5000B31FB0935B04A0935A040BC081E08093FF |
:105D60007C0407C010927C0404C01092810410923D |
:105D7000800480918204909183049093E106809343 |
:105D8000E00680918004909181040817190724F49B |
:105D900010938104009380042D853E854F8558899A |
:105DA00021503440404050405CF08091F10390918C |
:105DB000F2032091800430918104820F931F13C05D |
:105DC0002D853E854F85588920503C4F4F4F5F4F62 |
:105DD00074F48091F1039091F2032091800430914A |
:105DE0008104821B930B9093F2038093F1038091C3 |
:105DF000EF039091F0039093D9068093D806809199 |
:105E0000F1039091F2032091F5033091F603821B88 |
:105E1000930B9C01E3E0220F331FEA95E1F7880F13 |
:105E2000991F820F931F9093DB068093DA0608C0B8 |
:105E300010925B0410925A0410925D0410925C045C |
:105E400020E030E040E050E06091940770919507C9 |
:105E500080919607909197070E94FA3A882341F41F |
:105E600010925B0410925A0410925D0410925C042C |
:105E700080918C0790918D07A0918E07B0918F072C |
:105E80008093780490937904A0937A04B0937B0470 |
:105E90008091900790919107A0919207B0919307FC |
:105EA0008093740490937504A0937604B093770460 |
:105EB0001092110410921204109213041092140400 |
:105EC00010921504109216041092170410921804E0 |
:105ED0001092190410921A0410921B0410921C04C0 |
:105EE00010928C0710928D0710928E0710928F07D8 |
:105EF00010929007109291071092920710929307B8 |
:105F000010928407109285071092860710928707D7 |
:105F100010927C0710927D0710927E0710927F07E7 |
:105F20001092DA031092D903809053049090540495 |
:105F3000940197FE04C022273327281939092531F7 |
:105F400031053CF08091390784FD03C081E08093E6 |
:105F50008A04E09042075901CC24B7FCC094DC2CA1 |
:105F6000B401882777FD8095982F2E2D332744275D |
:105F700055270E94B23B9B01AC01C601B5010E94AE |
:105F8000B23B20E032E040E050E00E94263C890134 |
:105F90009A01FF24E89CC001E99C900DF89C900DAB |
:105FA000112464E070E00E94F13B600F711F8827AC |
:105FB00077FD8095982F6093A5047093A604809335 |
:105FC000A7049093A80420913104309132044091A9 |
:105FD000330450913404261B370B480B590B209384 |
:105FE0003104309332044093330450933404213508 |
:105FF00093EC390790E0490790E059072CF080E5D1 |
:1060000093ECA0E0B0E009C0205B3C434F4F5F4FF2 |
:1060100064F480EB9CE3AFEFBFEF80933104909387 |
:106020003204A0933304B09334048091390783FF82 |
:106030009AC0809143048150809343048F3FD9F4E8 |
:106040000E943F3790933E0480933D0420913F048B |
:1060500030914004821B930B845E9D4F68E671E093 |
:106060000E94F13B845B90409093420480934104F2 |
:1060700082E3809343046091010470910204809153 |
:1060800003049091040420E032E040E050E00E94DC |
:10609000263C890137FF03C0109501951F4F609181 |
:1060A000090470910A0480910B0490910C0420E083 |
:1060B00032E040E050E00E94263CB90137FF03C0C7 |
:1060C000709561957F4F601771070CF4B8016332CA |
:1060D000710574F480918A04882351F080913D0405 |
:1060E00090913E049093400480933F0410928A0460 |
:1060F000209197033327629FC001639F900D729F89 |
:10610000900D112460E470E00E94F13B261B370BD8 |
:106110001216130644F58091410490914204FC014B |
:106120002E9FC0012F9F900D3E9F900D112460E285 |
:1061300070E00E94F13B882777FD8095982F209191 |
:106140003104309132044091330450913404260FCD |
:10615000371F481F591F2093310430933204409356 |
:1061600033045093340480918B04815080938B04CA |
:106170008F3F09F079C088E180938B04E090450758 |
:10618000FF2400271127609101047091020480917F |
:10619000030490910404A80197010E94263C3093C7 |
:1061A000AB062093AA066091090470910A048091BD |
:1061B0000B0490910C04A80197010E94263C309397 |
:1061C000AD062093AC0680919D0790919E07909319 |
:1061D000AF068093AE068091A7079091A807909391 |
:1061E000B1068093B0068091A0079091A10790938B |
:1061F000B3068093B2068091560490915704909311 |
:10620000B5068093B4066091390470913A04809188 |
:106210003B0490913C0420E032E040E050E00E94DA |
:10622000263C3093B7062093B60680913D049091AA |
:106230003E049093BB068093BA0680910803909128 |
:1062400009039093BD068093BC0680914E04992764 |
:106250009093BF068093BE0680918807909189072E |
:106260009093CB068093CA0680915E04C09081070C |
:10627000D0908207882391F0B601882777FD80951A |
:10628000982F0E94F03A2091A2073091A3074091E5 |
:10629000A4075091A5070E946A3B2DC0609101049C |
:1062A0007091020480910304909104040E94F03ADA |
:1062B0002091940730919507409196075091970748 |
:1062C0000E946A3B7B018C01B601882777FD80958F |
:1062D000982F0E94F03A2091A2073091A307409195 |
:1062E000A4075091A5070E946A3B9B01AC01C8011D |
:1062F000B7010E944B3A0E94D33A70938207609391 |
:10630000810780915F04C0907907D0907A07882335 |
:1063100091F0B601882777FD8095982F0E94F03A7A |
:106320002091A2073091A3074091A4075091A5079F |
:106330000E946A3B2DC06091090470910A0480910B |
:106340000B0490910C040E94F03A20919407309134 |
:10635000950740919607509197070E946A3B7B01F1 |
:106360008C01B601882777FD8095982F0E94F03A1E |
:106370002091A2073091A3074091A4075091A5074F |
:106380000E946A3B9B01AC01C801B7010E944B3AD5 |
:106390000E94D33A70937A0760937907209094070C |
:1063A0003090950740909607509097076091A0070E |
:1063B0007091A107882777FD8095982F0E94F03A69 |
:1063C0002091A2073091A3074091A4075091A507FF |
:1063D0000E946A3B7B018C0160911D0470911E0438 |
:1063E00080911F04909120040E94F03AA201910133 |
:1063F0000E946A3B20E030E040E05FE30E946A3B9D |
:106400009B01AC01C801B7010E944B3A0E94D33AEC |
:106410008B017093A1076093A007E0907907F0903B |
:106420007A07F092E306E092E20660910904709127 |
:106430000A0480910B0490910C040E94F03AA2018E |
:1064400091010E946A3B69877A878B879C870E94AB |
:10645000D33A7093DD066093DC06209151043091AD |
:1064600052043EA32DA33093E9062093E8068091C1 |
:1064700081079091820738E0813093071CF080E01B |
:1064800098E005C08050984F34F480E098EF9093E6 |
:1064900082078093810751E0E51658E0F5061CF06D |
:1064A00080E098E007C080E0E81688EFF80634F452 |
:1064B00080E098EF90937A078093790798E0013015 |
:1064C00019071CF080E098E005C00050184F34F424 |
:1064D00080E098EF9093A1078093A00780913907FF |
:1064E000992780FFD9C04091940381FF0EC04233A9 |
:1064F00010F5809156049091570444979093590455 |
:10650000809358041092450419C020919F03309144 |
:10651000A003240F311D80913E079927FC012E9F77 |
:10652000C0012F9F900D3E9F900D11244497909392 |
:1065300059048093580481E0809345048091440479 |
:10654000882321F010925904109258042091560487 |
:106550003091570440915804509159044217530701 |
:106560000CF09AC080914504882309F495C0241B3F |
:10657000350B809195039927AC01249FC001259F7D |
:10658000900D349F900D112460E170E00E94F13B6A |
:1065900009811A81061B170B2091D7033091D8036C |
:1065A000809193039927DC012A9FC0012B9F900DB6 |
:1065B0003A9F900D112468E070E00E94F13B061BA9 |
:1065C000170B6091390470913A0480913B049091CB |
:1065D0003C0420E032E040E050E00E94263CCA014A |
:1065E000B901209196033327442755270E94B23BD7 |
:1065F00020E230E040E050E00E94263CBFEF2E3C1D |
:106600003B0714F42EEC3FEF80918C0490918D04A5 |
:10661000AC0164E0440F551F6A95E1F7481B590B24 |
:106620002333310514F022E330E0021B130BCA01BF |
:10663000800F911F60E170E00E94F13B70938D0428 |
:1066400060938C0480913A079927681779078CF436 |
:10665000E981FA81E817F9072CF090938D04809373 |
:106660008C0407C029813A8130938D0420938C04D7 |
:106670000DC080918C0490918D0449815A814817F6 |
:10668000590724F450938D0440938C0480918C041A |
:1066900090918D049A838983A981BA81B093B906B8 |
:1066A000A093B806E090A007F090A1070091A50480 |
:1066B0001091A6042091A7043091A80480919F070F |
:1066C000882E992454971CF41C821B8229C089812E |
:1066D0009A8162E070E00E94F13B9701201B310B30 |
:1066E000CB01261737070CF4C901709561957F4FD0 |
:1066F000681779070CF4BC01C401E981FA818E1B8B |
:106700009F0B681779070CF4CB0129813A8128196E |
:1067100039093C832B832817390714F49C838B8316 |
:1067200060904F04709050048091B9049091BA0425 |
:10673000681A790A809181079091820786199709D2 |
:1067400090938B0780938A0720E030E040E050E090 |
:10675000C201B1010E94FA3A8823D1F16091AD04DF |
:106760007091AE048091AF049091B0040E94F03A11 |
:106770005B016C016091010470910204809103043B |
:10678000909104040E94F03AA20191010E946A3B98 |
:106790007B018C01B301882777FD8095982F0E949B |
:1067A000F03A9B01AC01C801B7010E944A3A9B0133 |
:1067B000AC01C601B5010E944B3A0E94D33A6093E6 |
:1067C000AD047093AE048093AF049093B0041CC0EA |
:1067D00020918A0730918B07442737FD4095542F2D |
:1067E0008091AD049091AE04A091AF04B091B0043B |
:1067F000820F931FA41FB51F8093AD049093AE0426 |
:10680000A093AF04B093B0048091AD049091AE0416 |
:10681000A091AF04B091B004181619061A061B0611 |
:1068200024F40297A109B10903C00296A11DB11D6C |
:106830008093AD049093AE04A093AF04B093B004E2 |
:106840008091AD049091AE04A091AF04B091B004DA |
:1068500081383EE3930730E0A30730E0B3072CF024 |
:1068600080E89EE3A0E0B0E009C08058914CAF4FB3 |
:10687000BF4F64F480E891ECAFEFBFEF8093AD04BD |
:106880009093AE04A093AF04B093B00460918A07D4 |
:1068900070918B0780918F0390919003A091910349 |
:1068A000B09192038D839E83AF83B887882777FD4D |
:1068B0008095982F0E94F03A7B018C016091AD0485 |
:1068C0007091AE048091AF049091B0040E94F03AB0 |
:1068D0009B01AC016D817E818F8198850E946A3B0E |
:1068E0009B01AC01C801B7010E944B3A0E94D33A08 |
:1068F0005B016C017CAB6BAB80919E03E82EFF24A7 |
:10690000002711278B819C8197FF03C0909581956B |
:106910009F4F62E070E00E94F13B9B01A981BA8128 |
:106920002A0F3B1F442737FD4095542FC801B7015C |
:106930000E94B23B20E430E040E050E00E94263C60 |
:106940003901EBA9FCA9E217F3070CF49501AA247D |
:10695000BB24A618B708A501A216B3060CF4A9011A |
:1069600089819A812B813C81820F931F840F951F0F |
:1069700097FF03C020E030E005C094018815990519 |
:106980000CF49C0180918307C82EDD24C601C21639 |
:10699000D3060CF4C90180937B0789819A81841BFB |
:1069A000950B4B815C81840F951F97FF03C020E0FE |
:1069B00030E005C09401881599050CF49C01C601CE |
:1069C000C216D3060CF4C901809380078091BB04E2 |
:1069D0009091BC04ADA1BEA1A81BB90BBCABABABE5 |
:1069E0008091790790917A078A1B9B0B9093780787 |
:1069F0008093770720E030E040E050E0C201B10131 |
:106A00000E94FA3A882371F16091A9047091AA0456 |
:106A10008091AB049091AC040E94F03A7B018C0110 |
:106A2000EBA9FCA9BF01882777FD8095982F0E94CC |
:106A3000F03A9B01AC0169857A858B859C850E9423 |
:106A40004A3A9B01AC01C801B7010E944B3A0E942F |
:106A5000D33A6093A9047093AA048093AB049093F3 |
:106A6000AC041CC02091770730917807442737FD8C |
:106A70004095542F8091A9049091AA04A091AB0451 |
:106A8000B091AC04820F931FA41FB51F8093A9047B |
:106A90009093AA04A093AB04B093AC048091A90492 |
:106AA0009091AA04A091AB04B091AC0418161906F9 |
:106AB0001A061B0624F40297A109B10903C0029625 |
:106AC000A11DB11D8093A9049093AA04A093AB04C7 |
:106AD000B093AC048091A9049091AA04A091AB0456 |
:106AE000B091AC048138FEE39F07F0E0AF07F0E01F |
:106AF000BF072CF080E89EE3A0E0B0E009C080581A |
:106B0000914CAF4FBF4F64F480E891ECAFEFBFEF13 |
:106B10008093A9049093AA04A093AB04B093AC040F |
:106B20006091770770917807882777FD8095982F77 |
:106B30000E94F03A7B018C016091A9047091AA0433 |
:106B40008091AB049091AC040E94F03A9B01AC019F |
:106B50006D817E818F8198850E946A3B9B01AC018B |
:106B6000C801B7010E944B3A0E94D33A93016615BF |
:106B700077050CF49B01C501A216B3060CF4C901FC |
:106B800049815A81480F591FAB81BC814A1B5B0B5D |
:106B900057FF03C020E030E005C0940148155905B7 |
:106BA0000CF49A01A601C216D3060CF4A901409375 |
:106BB0009A0729813A81281B390BEB81FC812E1B16 |
:106BC0003F0B37FF03C040E050E005C0A40128158B |
:106BD00039050CF4A901C601C416D5060CF0D1C0C4 |
:106BE000CA01CFC020916E0430916F04C90113E037 |
:106BF000880F991F1A95E1F7821B930B68E070E0EC |
:106C00000E94F13B8B0170936F0460936E0440E02F |
:106C100050E00C94982780915E04882311F40C9422 |
:106C2000C7290C94BD29E0904507FF2400271127B0 |
:106C30006FA578A989A99AA9A80197010E94263C65 |
:106C400080919D0790919E07AA2797FDA095BA2F46 |
:106C5000281B390B4A0B5B0BCA01B90120E130E05C |
:106C600040E050E00E94263C59016A016BA57CA5DA |
:106C70008DA59EA5A80197010E94263C8091A7079B |
:106C80009091A807AA2797FDA095BA2F281B390B2A |
:106C90004A0B5B0BCA01B90120E130E040E050E053 |
:106CA0000E94263C79018A01F1E2AF16B104C104C9 |
:106CB000D10414F40C948D2AB0E2AB2EB12CC12C6B |
:106CC000D12C0C949E2A109211041092120410924E |
:106CD00013041092140410921504109216041092CA |
:106CE00017041092180410928C0710928D071092BE |
:106CF0008E0710928F0710929007109291071092B2 |
:106D000092071092930710928407109285071092B1 |
:106D100086071092870710927C0710927D071092C9 |
:106D20007E0710927F078091210490912204A09108 |
:106D30002304B09124048093250490932604A09307 |
:106D40002704B09328048091290490912A04A091EB |
:106D50002B04B0912C0480932D0490932E04A093C7 |
:106D60002F04B09330041092DA031092D9031092DA |
:106D70005D0410925C0410925B0410925A040C940F |
:106D8000DE2A80939807E2E1CA5C0C945D3C809116 |
:106D9000BD049091BE04A091BF04B091C004809343 |
:106DA000C5049093C604A093C704B093C80480910F |
:106DB000C1049091C204A091C304B091C404809313 |
:106DC000C9049093CA04A093CB04B093CC04089553 |
:106DD0001092BA041092B9041092BC041092BB0431 |
:106DE00008951F920F920FB60F9211242F933F9385 |
:106DF0004F938F939F938091B707833019F084301E |
:106E0000A1F508C08EB58093CD041EBC84E08093AC |
:106E1000B7072BC08091CD049927382F22278EB534 |
:106E20009927282B392BC9018D509E4F875E93409F |
:106E3000D0F48091BA07853019F0863069F406C025 |
:106E40003093BC072093BB0786E00BC03093BE078E |
:106E50002093BD0787E005C03093C0072093BF078C |
:106E600085E08093BA071092B7079F918F914F9159 |
:106E70003F912F910F900FBE0F901F901895AAE091 |
:106E8000B0E0E5E4F7E30C94413CA0905007BB244C |
:106E900033E0AA0CBB1C3A95E1F7CC24DD246091C9 |
:106EA0000104709102048091030490910404A601EE |
:106EB00095010E94263C79018A01FF24E7FCF094A9 |
:106EC000C7010E94F2392C01C7010E94353A3C01EA |
:106ED0006091090470910A0480910B0490910C0454 |
:106EE000A60195010E94263C79018A01FF24E7FC56 |
:106EF000F094C7010E94F2399A878987C7010E94DE |
:106F0000353A1C016091BB077091BC07E090BD074A |
:106F1000F090BE072091AF07332727FD3095E21A86 |
:106F2000F30A0027F7FC0095102FA090BF07B09040 |
:106F3000C0072091B007332727FD3095A21AB30A66 |
:106F4000CC24B7FCC094DC2C2091AE07332727FD5E |
:106F50003095621B730B882777FD8095982F8824C6 |
:106F600077FC8094982CA40193010E94B23B3B01D2 |
:106F70004C0189859A85AA2797FDA095BA2F8D8304 |
:106F80009E83AF83B887C201AA2797FDA095BA2F29 |
:106F900089839A83AB83BC83C801B7012D813E816D |
:106FA0004F8158850E94B23B29813A814B815C8197 |
:106FB0000E94B23B20E034E040E050E00E94263CDA |
:106FC000620E731E841E951E442437FC4094542C7C |
:106FD000C601B501A20191010E94B23B29813A810B |
:106FE0004B815C810E94B23B20E034E040E050E005 |
:106FF0000E94263C621A730A840A950AC801B701E6 |
:10700000A20191010E94B23B7B018C01C601B50136 |
:107010002D813E814F8158850E94B23BE60EF71EBE |
:10702000081F191FC801B70120E034E040E050E01C |
:107030000E94263C79018A01C401B30120E034E0BA |
:1070400040E050E00E94263CDA01C901B7010E94ED |
:1070500053399C0197FF05C088279927821B930B02 |
:1070600004C088E691E0821B930BE2E1C65F0C94BA |
:107070005D3C8091B707813041F0813018F082305B |
:1070800049F51CC02A9A81E016C02A988091BA0757 |
:10709000853011F481E305C0863011F482E301C02C |
:1070A00083E38EBD88E090E00E949A0C9093B9072C |
:1070B0008093B80782E08093B70708958091B8075E |
:1070C0009091B9070E94A30C882321F01EBC83E095 |
:1070D0008093B7070895A0E0B0E0E1E7F8E30C94EF |
:1070E000433C299A809100018A3011F4289801C00C |
:1070F000289AAA24BB2400E010E088249924EE24D6 |
:10710000FF2466247724CC24DD2462E3462E552414 |
:107110008091BB079091BC07081719072CF40091C8 |
:10712000BB071091BC070BC08091BB079091BC07B7 |
:107130008A159B0524F4A090BB07B090BC078091F2 |
:10714000BD079091BE07E816F9062CF4E090BD0744 |
:10715000F090BE070BC08091BD079091BE078815C7 |
:10716000990524F48090BD079090BE078091BF07D9 |
:107170009091C007C816D9062CF4C090BF07D090D4 |
:10718000C0070BC08091BF079091C0078615970577 |
:1071900024F46090BF077090C007552081F485B13A |
:1071A00091E0892785B985B192E0892785B982E385 |
:1071B00090E09093C1038093C00352E3552E8AE080 |
:1071C00090E00E949A0CEC01CE010E94A30C88234F |
:1071D000D9F3E0913307FF27EE0FFF1FEB5FF84F66 |
:1071E00080819181843691050CF44A94442011F0F9 |
:1071F0005A948ECFC8018A199B099093B207809345 |
:10720000B107C701881999099093B4078093B30710 |
:10721000C601861997099093B6078093B507EEEAE1 |
:10722000F7E0C8018A0D9B1D62E070E00E94F13B0F |
:107230006093AE07C701880D991D62E070E00E945F |
:10724000F13B6093AF07C601860D971D62E070E0C9 |
:107250000E94F13B6093B00789E0A8E6B1E0182EE8 |
:107260000E94973CE0E1CDB7DEB70C945F3C83ED24 |
:107270008CBD84B1846A84B9809100018A3019F48C |
:10728000539A5B9802C03E9A469885E08093BA076D |
:107290001092B70789E0EEEAF7E0A8E6B1E0182E11 |
:1072A0000E94863C08951F93CF93DF93EC01892BB6 |
:1072B00031F46115710519F480E090E08FC077FD1D |
:1072C00002C011E001C01FEF209729F48AE51802DF |
:1072D000C001112483C0882777FD8095982F26E070 |
:1072E000660F771F881F991F2A95D1F79E014427A3 |
:1072F00037FD4095542F0E94263CF90137FF03C00B |
:10730000F095E195FF4F41E0EA35F40734F4E55F8D |
:10731000FA4F8491282F332747C05CE1E73AF507FD |
:107320001CF02AE530E040C089E0ED38F8071CF099 |
:1073300029E530E039C045E0EA3BF4071CF028E5D8 |
:1073400030E032C054E0E731F5071CF027E530E0CB |
:107350002BC083E0EE32F8071CF026E530E024C0B5 |
:1073600042E0E939F4071CF025E530E01DC052E0A9 |
:10737000E233F5071CF024E530E016C081E0E73E7B |
:10738000F8071CF023E530E00FC041E0ED3AF407C8 |
:107390001CF022E530E008C0EF57F1401CF021E579 |
:1073A00030E002C020E530E01C161D066CF4812F91 |
:1073B000992787FD9095AC01249FC001259F900DD2 |
:1073C000349F900D11240AC011162CF484EB90E028 |
:1073D000821B930B03C0C901845B9040DF91CF9166 |
:1073E0001F910895FC0197FD03C041E050E005C0E6 |
:1073F000F095E195FF4F4FEF5FEFEB35F1055CF056 |
:10740000CF018B5590408A35910540F484EB90E094 |
:107410008E1B9F0BFC0121E030E010C0CF01855B8B |
:1074200090408A35910518F4E45BF04005C088E689 |
:1074300091E08E1B9F0BFC012FEF3FEFEE0FFF1F24 |
:10744000EB59F94F85919491BC01629FC001639FF4 |
:10745000900D729F900D11249C01429FC001439F8B |
:10746000900D529F900D112408952AE530E0281BBD |
:10747000390BC9010E94F2390895FC014150504076 |
:1074800030F001900616D1F73197CF010895882783 |
:10749000992708955058192EEFD001D0D2C0BA17AD |
:1074A0006207730784079507B1F188F40EF410940E |
:1074B0000B2EBA2FA02D062E622F202D072E732FF4 |
:1074C000302D082E842F402D092E952F502DFF276B |
:1074D0005523B9F0591B49F0573E98F0469537951A |
:1074E0002795A795F0405395C9F776F0BA0F621F1C |
:1074F000731F841F30F4879577956795B795F04093 |
:10750000939517FA0F2E0895BF1BBB27BA0B620B7A |
:10751000730B840BF6CFDEF6DBC0AED001D091C08A |
:10752000552359F0992369F09F575F57951B33F402 |
:1075300042F4903811F4915805C09BC091589F3F78 |
:1075400009F4C6C0BB27112462177307840730F4FF |
:10755000660F771F881FBB1F915098F311D00F92B1 |
:107560000FD00F920DD0A0E82617370748071B064B |
:1075700009F0A048BA2F602D7F918F9100240895C3 |
:10758000A0E80024621773078407B10528F0621B86 |
:10759000730B840BB1090A2A660F771F881FBB1F64 |
:1075A000A69581F7089597FB73D09F3738F0FEE9D1 |
:1075B000F91B982F872F762F6B2F05C086C09695C5 |
:1075C000879577956795F150D0F73EF49095809523 |
:1075D000709561957F4F8F4F9F4F0895E89403C03A |
:1075E00097FB0EF4F3DFB62F672F782F892F9EE9D4 |
:1075F000002427C00ED05EF004C00BD026F001C0DE |
:1076000008D019F020F48FEF089580E0089581E00C |
:10761000089597FB092E052600F8689430D0E89469 |
:1076200007FC07C0621773078407950721F008F469 |
:1076300000940794989408959A95BB0F661F771F3E |
:10764000881F11249923A1F08823B2F79F3F59F096 |
:10765000BB0F48F421F4002011F460FF04C06F5FF9 |
:107660007F4F8F4F9F4F881F9795879597F9089564 |
:107670002CC09FEF80EC0895052E092607FA440FD1 |
:10768000551F5F3F79F0AA27A51708F051E04795ED |
:10769000880F991F9F3F31F0BB27B91708F091E081 |
:1076A000879508959F919F911124E3CF97FB880FB1 |
:1076B000991F9F3F31F0BB27B91708F091E08795DC |
:1076C00008959F919F911124D4CF6627772788270B |
:1076D00099270895D1DF01D0B4CF992339F05523EC |
:1076E00029F09F575F57950F13F49AF1F1CF9158F6 |
:1076F0009F3FE1F3629FA12D0F92BB27639FA00DD7 |
:10770000B11DEE27729FA00DB11DEE1FAF93AA27EA |
:10771000649FB00DE11D739FB00DE11DAA1F662788 |
:10772000829FB00DE11DA61F5527749FE00DA11D7E |
:10773000551F839FE00DA11D561F849FA00D511D55 |
:10774000852F7A2F6E2F1F900F9088231AF4939510 |
:1077500039F48FCF000C111CBB1F661F771F881FC9 |
:1077600001280895629FD001739FF001829FE00D70 |
:10777000F11D649FE00DF11D929FF00D839FF00DB0 |
:10778000749FF00D659FF00D9927729FB00DE11D5C |
:10779000F91F639FB00DE11DF91FBD01CF01112439 |
:1077A0000895991B79E004C0991F961708F0961B5D |
:1077B000881F7A95C9F780950895AA1BBB1B51E1D4 |
:1077C00007C0AA1FBB1FA617B70710F0A61BB70B51 |
:1077D000881F991F5A95A9F780959095BC01CD01F6 |
:1077E000089597FB092E07260AD077FD04D0E5DF20 |
:1077F00006D000201AF4709561957F4F0895F6F732 |
:10780000909581959F4F0895A1E21A2EAA1BBB1B4C |
:10781000FD010DC0AA1FBB1FEE1FFF1FA217B3075C |
:10782000E407F50720F0A21BB30BE40BF50B661F72 |
:10783000771F881F991F1A9469F760957095809536 |
:1078400090959B01AC01BD01CF01089597FB092ED6 |
:1078500005260ED057FD04D0D7DF0AD0001C38F41F |
:1078600050954095309521953F4F4F4F5F4F08956C |
:10787000F6F790958095709561957F4F8F4F9F4F4C |
:1078800008952F923F924F925F926F927F928F92C4 |
:107890009F92AF92BF92CF92DF92EF92FF920F939F |
:1078A0001F93CF93DF93CDB7DEB7CA1BDB0B0FB6A9 |
:1078B000F894DEBF0FBECDBF09942A883988488866 |
:1078C0005F846E847D848C849B84AA84B984C884FC |
:1078D000DF80EE80FD800C811B81AA81B981CE0FF3 |
:1078E000D11D0FB6F894DEBF0FBECDBFED010895D8 |
:1078F000EE0FFF1F0590F491E02D0994F999FECF4A |
:10790000B2BDA1BDF89A119600B40895F7DF0192B7 |
:107910001A94E1F70895F999FECFB2BDA1BD00BC5C |
:1079200011960FB6F894FA9AF99A0FBE089501903D |
:0A793000F2DF1A94E1F70895FFCF8B |
:10793A000A01FF64496E74656772616C4E69636B14 |
:10794A0020202020496E74656772616C526F6C6CDE |
:10795A00202020204163634E69636B202020202071 |
:10796A0020202020416363526F6C6C20202020204D |
:10797A00202020204779726F4769657220202020D5 |
:10798A0020202020486F6568656E57657274202034 |
:10799A00202020204163635A2020202020202020FC |
:1079AA002020202047617320202020202020202012 |
:1079BA00202020204B6F6D7061737356616C756562 |
:1079CA00202020205370616E6E756E672020202063 |
:1079DA0020202020456D7066616E672020202020BF |
:1079EA0020202020416E616C6F67313120202020D9 |
:1079FA00202020204D6F746F725F566F726E652063 |
:107A0A00202020204D6F746F725F48696E74656E16 |
:107A1A00202020204D6F746F725F4C696E6B73204B |
:107A2A00202020204D6F746F725F526563687473F3 |
:107A3A00202020204163635F5A202020202020201C |
:107A4A00202020204D697474656C4163634E69631C |
:107A5A006B2020204D697474656C416363526F6CAE |
:107A6A006C202020496E74656772616C4572724E93 |
:107A7A0069636B20496E74656772616C45727252F4 |
:107A8A006F6C6C204D697474656C496E744E6963D1 |
:107A9A006B2020204D697474656C496E74526F6C4A |
:107AAA006C0920004E65757472616C4E69636B20B7 |
:107ABA0020202020526F6C6C4F66667365742020FC |
:107ACA0020202020496E74526F6C6C2A46616B74B8 |
:107ADA006F722020416E616C6F6732362020202041 |
:107AEA0020202020446972656B74417573676C525B |
:107AFA006F6C6C204D65737377657274526F6C6C22 |
:107B0A0020202020417573676C65696368526F6C29 |
:107B1A006C202020492D4C616765526F6C6C2020C7 |
:107B2A0020202020537469636B526F6C6C202020D4 |
:107B3A0020202020FFFF0A016400007D0000FF03CF |
:107B4A000102030405060708090A48616C6C6F20E4 |
:107B5A0057656C740000000000000000000000007F |
:107B6A00000000000000000000000000000000000B |
:107B7A0000000000000000000000000000000000FB |
:107B8A0000000000000000000000000000000000EB |
:107B9A00000000000000000000000C014265676957 |
:107BAA006E6E657200004E6F726D616C00005370EC |
:107BBA006F72740000640090D0030090D003001725 |
:107BCA00B7D13830FB103A409696020A644664EC04 |
:027BDA00FF00AA |
:00000001FF |
/branches/Nick666/V0.67g MicroMag3/FlightCtrl.aps |
---|
0,0 → 1,0 |
<AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>11-Oct-2007 22:58:54</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>15-May-2007 11:20:41</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>F:\SVN\MikroKopter\FlightCtrl\branches\V0.64_ZeroWarnings\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega644.xml</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>uart.c</SOURCEFILE><SOURCEFILE>analog.c</SOURCEFILE><SOURCEFILE>eeprom.c</SOURCEFILE><SOURCEFILE>fc.c</SOURCEFILE><SOURCEFILE>GPS.c</SOURCEFILE><SOURCEFILE>main.c</SOURCEFILE><SOURCEFILE>menu.c</SOURCEFILE><SOURCEFILE>printf_P.c</SOURCEFILE><SOURCEFILE>rc.c</SOURCEFILE><SOURCEFILE>timer0.c</SOURCEFILE><SOURCEFILE>twimaster.c</SOURCEFILE><HEADERFILE>uart.h</HEADERFILE><HEADERFILE>_Settings.h</HEADERFILE><HEADERFILE>analog.h</HEADERFILE><HEADERFILE>fc.h</HEADERFILE><HEADERFILE>gps.h</HEADERFILE><HEADERFILE>main.h</HEADERFILE><HEADERFILE>menu.h</HEADERFILE><HEADERFILE>old_macros.h</HEADERFILE><HEADERFILE>printf_P.h</HEADERFILE><HEADERFILE>rc.h</HEADERFILE><HEADERFILE>Settings.h</HEADERFILE><HEADERFILE>timer0.h</HEADERFILE><HEADERFILE>twimaster.h</HEADERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>NO</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE></EXTERNALMAKEFILE><PART>atmega644</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>Flight-Ctrl.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS><OPTION><FILE>GPS.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>analog.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>eeprom.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>fc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>main.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>menu.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>printf_P.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>rc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>timer0.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>twimaster.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>uart.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS><LIB>libc.a</LIB><LIB>libm.a</LIB></LIBS><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -Wstrict-prototypes -std=gnu99 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -DVERSION_HAUPTVERSION=0 -DVERSION_NEBENVERSION=64 -DVERSION_KOMPATIBEL=5</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\Program Files\WinAVR\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\Program Files\WinAVR\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><IOView><usergroups/></IOView><Files><File00000><FileId>00000</FileId><FileName>main.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>uart.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>menu.c</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>timer0.c</FileName><Status>1</Status></File00003><File00004><FileId>00004</FileId><FileName>fc.c</FileName><Status>1</Status></File00004><File00005><FileId>00005</FileId><FileName>fc.h</FileName><Status>1</Status></File00005><File00006><FileId>00006</FileId><FileName>menu.h</FileName><Status>1</Status></File00006><File00007><FileId>00007</FileId><FileName>TWIMASTER.C</FileName><Status>1</Status></File00007><File00008><FileId>00008</FileId><FileName>twimaster.h</FileName><Status>1</Status></File00008><File00009><FileId>00009</FileId><FileName>uart.h</FileName><Status>1</Status></File00009><File00010><FileId>00010</FileId><FileName>_Settings.h</FileName><Status>1</Status></File00010><File00011><FileId>00011</FileId><FileName>analog.h</FileName><Status>1</Status></File00011><File00012><FileId>00012</FileId><FileName>gps.h</FileName><Status>1</Status></File00012><File00013><FileId>00013</FileId><FileName>main.h</FileName><Status>1</Status></File00013><File00014><FileId>00014</FileId><FileName>old_macros.h</FileName><Status>1</Status></File00014><File00015><FileId>00015</FileId><FileName>printf_P.h</FileName><Status>1</Status></File00015><File00016><FileId>00016</FileId><FileName>rc.h</FileName><Status>1</Status></File00016><File00017><FileId>00017</FileId><FileName>Settings.h</FileName><Status>1</Status></File00017><File00018><FileId>00018</FileId><FileName>timer0.h</FileName><Status>1</Status></File00018></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio> |
/branches/Nick666/V0.67g MicroMag3/GPS.c |
---|
0,0 → 1,30 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
signed int GPS_Nick = 0; |
signed int GPS_Roll = 0; |
long GpsAktuell_X = 0; |
long GpsAktuell_Y = 0; |
long GpsZiel_X = 0; |
long GpsZiel_Y = 0; |
void GPS_Neutral(void) |
{ |
GpsZiel_X = GpsAktuell_X; |
GpsZiel_Y = GpsAktuell_Y; |
} |
void GPS_BerechneZielrichtung(void) |
{ |
GPS_Nick = 0; |
GPS_Roll = 0; |
} |
/branches/Nick666/V0.67g MicroMag3/License.txt |
---|
0,0 → 1,52 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-profit use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
// + clearly linked and named as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
/branches/Nick666/V0.67g MicroMag3/Readme.pdf |
---|
Cannot display: file marked as a binary type. |
svn:mime-type = application/octet-stream |
Property changes: |
Added: svn:mime-type |
+application/octet-stream |
\ No newline at end of property |
/branches/Nick666/V0.67g MicroMag3/Settings.h |
---|
--- Nick666/V0.67g MicroMag3/_Settings.h (nonexistent) |
+++ Nick666/V0.67g MicroMag3/_Settings.h (revision 1471) |
@@ -0,0 +1,50 @@ |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+// Testmodi |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+#define MOTOR_OFF 0 |
+#define MOTOR_TEST 0 |
+ |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+// Abstimmung |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+#define ACC_AMPLIFY 12 |
+#define FAKTOR_P 1 |
+#define FAKTOR_I 0.0001 |
+ |
+ |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+// Debug-Interface |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
+#define MIN_DEBUG_INTERVALL 500 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
+ |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+// Sender |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+ #define K_NICK 0 |
+ #define K_ROLL 1 |
+ #define K_GAS 2 |
+ #define K_GIER 3 |
+ #define K_POTI1 4 |
+ #define K_POTI2 5 |
+ #define K_POTI3 6 |
+ #define K_POTI4 7 |
+// +++++++++++++++++++++++++++++++ |
+// + Getestete Settings: |
+// +++++++++++++++++++++++++++++++ |
+// Setting: Kamera |
+// Stick_P:3 |
+// Stick_D:0 |
+// Gyro_P: 175 |
+// Gyro_I: 175 |
+// Ki_Anteil: 10 |
+// +++++++++++++++++++++++++++++++ |
+// + Getestete Settings: |
+// +++++++++++++++++++++++++++++++ |
+// Setting: Normal |
+// Stick_P:2 |
+// Stick_D:8 |
+// Gyro_P: 80 |
+// Gyro_I: 150 |
+// Ki_Anteil: 5 |
+ |
/branches/Nick666/V0.67g MicroMag3/analog.c |
---|
0,0 → 1,147 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
volatile long Luftdruck = 32000; |
volatile int StartLuftdruck; |
volatile unsigned int MessLuftdruck = 1023; |
unsigned char DruckOffsetSetting; |
volatile int HoeheD = 0; |
volatile char messanzahl_Druck; |
volatile int tmpLuftdruck; |
volatile unsigned int ZaehlMessungen = 0; |
//####################################################################################### |
// |
void ADC_Init(void) |
//####################################################################################### |
{ |
ADMUX = 0;//Referenz ist extern |
ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
//Free Running Mode, Division Factor 128, Interrupt on |
} |
void SucheLuftruckOffset(void) |
{ |
unsigned int off; |
off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
if(off > 20) off -= 10; |
OCR0A = off; |
Delay_ms_Mess(100); |
if(MessLuftdruck < 850) off = 0; |
for(; off < 250;off++) |
{ |
OCR0A = off; |
Delay_ms_Mess(50); |
printf("."); |
if(MessLuftdruck < 900) break; |
} |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
DruckOffsetSetting = off; |
Delay_ms_Mess(300); |
} |
//####################################################################################### |
// |
SIGNAL(SIG_ADC) |
//####################################################################################### |
{ |
static unsigned char kanal=0,state = 0; |
static unsigned int gier1, roll1, nick1; |
ANALOG_OFF; |
switch(state++) |
{ |
case 0: |
gier1 = ADC; |
kanal = 1; |
ZaehlMessungen++; |
break; |
case 1: |
roll1 = ADC; |
kanal = 2; |
break; |
case 2: |
nick1 = ADC; |
kanal = 4; |
break; |
case 3: |
UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
kanal = 6; |
break; |
case 4: |
Aktuell_ay = NeutralAccY - ADC; |
AdWertAccRoll = Aktuell_ay; |
kanal = 7; |
break; |
case 5: |
Aktuell_ax = ADC - NeutralAccX; |
AdWertAccNick = Aktuell_ax; |
kanal = 0; |
break; |
case 6: |
if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
else AdWertGier = ADC + gier1; |
kanal = 1; |
break; |
case 7: |
if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
else AdWertRoll = ADC + roll1; |
kanal = 2; |
break; |
case 8: |
if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
else AdWertNick = ADC + nick1; |
//AdWertNick = 0; |
//AdWertNick += Poti2; |
kanal = 5; |
break; |
case 9: |
AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
if(AdWertAccHoch > 1) |
{ |
if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
} |
else if(AdWertAccHoch < -1) |
{ |
if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
} |
messanzahl_AccHoch = 1; |
Aktuell_az = ADC; |
Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
kanal = 3; |
break; |
case 10: |
tmpLuftdruck += ADC; |
if(++messanzahl_Druck >= 5) |
{ |
MessLuftdruck = ADC; |
messanzahl_Druck = 0; |
HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
HoehenWert = StartLuftdruck - Luftdruck; |
tmpLuftdruck = 0; |
} |
kanal = 0; |
state = 0; |
break; |
default: |
kanal = 0; |
state = 0; |
break; |
} |
ADMUX = kanal; |
if(state != 0) ANALOG_ON; |
} |
/branches/Nick666/V0.67g MicroMag3/analog.h |
---|
0,0 → 1,24 |
/*####################################################################################### |
#######################################################################################*/ |
extern volatile int UBat; |
extern volatile int AdWertNick, AdWertRoll, AdWertGier; |
extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch; |
extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
extern volatile long Luftdruck; |
extern volatile char messanzahl_Druck; |
extern volatile unsigned int ZaehlMessungen; |
extern unsigned char DruckOffsetSetting; |
extern volatile int HoeheD; |
extern volatile unsigned int MessLuftdruck; |
extern volatile int StartLuftdruck; |
extern volatile char MessanzahlNick; |
unsigned int ReadADC(unsigned char adc_input); |
void ADC_Init(void); |
void SucheLuftruckOffset(void); |
#define ANALOG_OFF ADCSRA=0 |
#define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
/branches/Nick666/V0.67g MicroMag3/compass.c |
---|
0,0 → 1,243 |
/* |
Copyright 2007, Niklas Nold |
This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
either version 3 of the License, or (at your option) any later version. |
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
*/ |
#include "main.h" |
struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
struct MM3_working_struct MM3; |
struct MM3_calib_struct MM3_calib; |
//############################################################################ |
// Initialisierung |
void init_MM3(void) |
//############################################################################ |
{ |
// SPI-Schnittstelle initialisieren |
SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); // Interrupt an, Master, 156 kHz Oszillator |
DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
if(PlatinenVersion == 10) |
{ |
DDRD |= (1<<PD3); // PD3 als Ausgang |
PORTD &= ~(1<<PD3); // J5 permanent auf Low |
} |
else |
{ |
DDRC |= (1<<PC6); // PC6 als Ausgang |
PORTC &= ~(1<<PC6); // J9 permanent auf Low |
} |
// Init Statemachine |
MM3.AXIS = MM3_X; |
MM3.STATE = MM3_RESET; |
// Kalibrierung aus dem EEprom lesen |
eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
} |
//############################################################################ |
// Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
void timer0_MM3(void) |
//############################################################################ |
{ |
switch (MM3.STATE) |
{ |
case MM3_RESET: |
PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
MM3.STATE = MM3_START_TRANSFER; |
return; |
case MM3_START_TRANSFER: |
PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch SPI-Übertragung (MOSI und MISO) aus |
else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
else SPDR = 0x33; //if (MM3.AXIS == MM3_Z) // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
MM3.STATE = MM3_WAIT_DRDY; |
return; |
case MM3_WAIT_DRDY: |
if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
} |
} |
//############################################################################ |
// SPI byte ready |
SIGNAL (SIG_SPI) |
//############################################################################ |
{ |
static char tmp; |
int wert; |
switch (MM3.STATE) |
{ |
case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
tmp = SPDR; |
SPDR = 0x00; // Übertragung von 2. Byte auslösen |
MM3.STATE = MM3_BYTE2; |
return; |
case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
wert = tmp; |
wert <<= 8; // 1. Byte an MSB-Stelle rücken |
wert |= SPDR; // 2. Byte dranpappen |
if(abs(wert) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
switch (MM3.AXIS) |
{ |
case MM3_X: |
MM3.x_axis = wert; |
MM3.AXIS = MM3_Y; |
break; |
case MM3_Y: |
MM3.y_axis = wert; |
MM3.AXIS = MM3_Z; |
break; |
default: //case MM3_Z: |
MM3.z_axis = wert; |
MM3.AXIS = MM3_X; |
} |
MM3.STATE = MM3_RESET; |
} |
} |
//############################################################################ |
// Kompass kalibrieren |
void calib_MM3(void) |
//############################################################################ |
{ |
signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
uint8_t measurement=50,beeper=0; |
unsigned int timer; |
GRN_ON; |
ROT_OFF; |
while (measurement) |
{ |
//H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
if (!beeper) |
{ |
ROT_FLASH; |
GRN_FLASH; |
beeptime = 50; |
beeper = 50; |
} |
beeper--; |
// Schleife mit 100 Hz |
timer = SetDelay(10); |
while(!CheckDelay(timer)); |
// Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
} |
// Wertebereich der Achsen |
MM3_calib.X_range = (x_max - x_min); |
MM3_calib.Y_range = (y_max - y_min); |
MM3_calib.Z_range = (z_max - z_min); |
// Offset der Achsen |
MM3_calib.X_off = (x_max + x_min) / 2; |
MM3_calib.Y_off = (y_max + y_min) / 2; |
MM3_calib.Z_off = (z_max + z_min) / 2; |
// und im EEProm abspeichern |
eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
} |
//############################################################################ |
// Neigungskompensierung und Berechnung der Ausrichtung |
int heading_MM3(void) |
//############################################################################ |
{ |
signed int sin_nick, cos_nick, sin_roll, cos_roll; |
long x_axis, y_axis, z_axis; |
long x_corr, y_corr; |
signed int heading; |
int8_t nicktilt,rolltilt; |
unsigned int div_faktor; |
div_faktor = (uint16_t)EE_Parameter.UserParam3 * 8; |
// Berechung von sinus und cosinus |
nicktilt = (IntegralNick/div_faktor); |
sin_nick = sin_i(nicktilt); |
cos_nick = cos_i(nicktilt); |
rolltilt = (IntegralRoll/div_faktor); |
sin_roll = sin_i(rolltilt); |
cos_roll = cos_i(rolltilt); |
// Offset |
x_axis = (MM3.x_axis - MM3_calib.X_off); |
y_axis = (MM3.y_axis - MM3_calib.Y_off); |
z_axis = (MM3.z_axis - MM3_calib.Z_off); |
/* |
// Normierung Wertebereich |
if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
{ |
y_axis = (y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
z_axis = (z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
} |
else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
{ |
x_axis = (x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
z_axis = (z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
} |
else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
{ |
x_axis = (x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
y_axis = (y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
} |
*/ |
// Neigungskompensierung |
x_corr = x_axis * cos_nick; |
x_corr += (y_axis * sin_roll * sin_nick) /1024; |
x_corr -= (z_axis * cos_roll * sin_nick) /1024; |
x_corr /= 1024; |
y_corr = y_axis * cos_roll; |
y_corr += z_axis * sin_roll; |
y_corr /= 1024; |
// Winkelberechnung |
heading = atan2_i(x_corr, y_corr); |
if (heading < 0) heading = -heading; |
else heading = 360 - heading; |
return (heading); |
} |
/branches/Nick666/V0.67g MicroMag3/compass.h |
---|
0,0 → 1,44 |
struct MM3_working_struct |
{ |
uint8_t STATE; |
unsigned int DRDY; |
uint8_t AXIS; |
volatile signed int x_axis; |
volatile signed int y_axis; |
volatile signed int z_axis; |
}; |
struct MM3_calib_struct |
{ |
int8_t X_off; |
int8_t Y_off; |
int8_t Z_off; |
uint16_t X_range; |
uint16_t Y_range; |
uint16_t Z_range; |
}; |
extern struct MM3_working_struct MM3; |
extern struct MM3_calib_struct MM3_calib; |
void init_MM3(void); |
void timer0_MM3(void); |
void calib_MM3(void); |
int heading_MM3(void); |
#define Max_Axis_Value 500 |
// Die Werte der Statemachine |
#define MM3_RESET 0 |
#define MM3_START_TRANSFER 1 |
#define MM3_WAIT_DRDY 2 |
#define MM3_DRDY 3 |
#define MM3_BYTE2 4 |
#define MM3_X 5 |
#define MM3_Y 6 |
#define MM3_Z 7 |
#define MM3_TILT 8 |
#define MM3_IDLE 9 |
/branches/Nick666/V0.67g MicroMag3/eeprom.c |
---|
0,0 → 1,182 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Konstanten |
// + 0-250 -> normale Werte |
// + 251 -> Poti1 |
// + 252 -> Poti2 |
// + 253 -> Poti3 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
void DefaultKonstanten1(void) |
{ |
EE_Parameter.Kanalbelegung[K_NICK] = 1; |
EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
EE_Parameter.Kanalbelegung[K_GAS] = 3; |
EE_Parameter.Kanalbelegung[K_GIER] = 4; |
EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
EE_Parameter.Hoehe_MinGas = 30; |
EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
EE_Parameter.Hoehe_Verstaerkung = 4; // Wert : 0-50 |
EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
EE_Parameter.Gier_P = 14; // Wert : 1-20 |
EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
EE_Parameter.I_Faktor = 32; |
EE_Parameter.UserParam1 = 32 * 4; //zur freien Verwendung |
EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
EE_Parameter.ServoNickRefresh = 5; |
EE_Parameter.LoopGasLimit = 50; |
EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
EE_Parameter.LoopHysterese = 50; |
EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
EE_Parameter.AchsKopplung1 = 100; |
EE_Parameter.AchsGegenKopplung1 = 10; |
EE_Parameter.WinkelUmschlagNick = 100; |
EE_Parameter.WinkelUmschlagRoll = 100; |
EE_Parameter.GyroAccAbgleich = 50; // 1/k |
EE_Parameter.Driftkomp = 4; |
EE_Parameter.DynamicStability = 100; |
memcpy(EE_Parameter.Name, "Sport\0", 12); |
} |
void DefaultKonstanten2(void) |
{ |
EE_Parameter.Kanalbelegung[K_NICK] = 1; |
EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
EE_Parameter.Kanalbelegung[K_GAS] = 3; |
EE_Parameter.Kanalbelegung[K_GIER] = 4; |
EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
EE_Parameter.Hoehe_MinGas = 30; |
EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
EE_Parameter.Gier_P = 10; // Wert : 1-20 |
EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
EE_Parameter.I_Faktor = 32; |
EE_Parameter.UserParam1 = 20 * 4; // zur freien Verwendung |
EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
EE_Parameter.ServoNickRefresh = 5; |
EE_Parameter.LoopGasLimit = 50; |
EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
EE_Parameter.LoopHysterese = 50; |
EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
EE_Parameter.AchsKopplung1 = 100; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
EE_Parameter.AchsGegenKopplung1 = 10; |
EE_Parameter.WinkelUmschlagNick = 100; |
EE_Parameter.WinkelUmschlagRoll = 100; |
EE_Parameter.GyroAccAbgleich = 100; // 1/k |
EE_Parameter.Driftkomp = 4; |
EE_Parameter.DynamicStability = 75; |
memcpy(EE_Parameter.Name, "Normal\0", 12); |
} |
void DefaultKonstanten3(void) |
{ |
EE_Parameter.Kanalbelegung[K_NICK] = 1; |
EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
EE_Parameter.Kanalbelegung[K_GAS] = 3; |
EE_Parameter.Kanalbelegung[K_GIER] = 4; |
EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
EE_Parameter.GlobalConfig = CFG_DREHRATEN_BEGRENZER | CFG_ACHSENKOPPLUNG_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
EE_Parameter.Hoehe_MinGas = 30; |
EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
EE_Parameter.Stick_P = 3; //2 // Wert : 1-6 |
EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
EE_Parameter.Gier_P = 8; // Wert : 1-20 |
EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
EE_Parameter.Gyro_P = 200; //80 // Wert : 0-250 |
EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
EE_Parameter.I_Faktor = 10; |
EE_Parameter.UserParam1 = 20 * 4; // zur freien Verwendung |
EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
EE_Parameter.ServoNickRefresh = 5; |
EE_Parameter.LoopGasLimit = 50; |
EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
EE_Parameter.LoopHysterese = 50; |
EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
EE_Parameter.AchsKopplung1 = 100; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
EE_Parameter.AchsGegenKopplung1 = 10; |
EE_Parameter.WinkelUmschlagNick = 100; |
EE_Parameter.WinkelUmschlagRoll = 100; |
EE_Parameter.GyroAccAbgleich = 100; // 1/k |
EE_Parameter.Driftkomp = 4; |
EE_Parameter.DynamicStability = 50; |
memcpy(EE_Parameter.Name, "Beginner\0", 12); |
} |
/branches/Nick666/V0.67g MicroMag3/fc.c |
---|
0,0 → 1,1148 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
#include "eeprom.c" |
unsigned char h,m,s; |
volatile unsigned int I2CTimeout = 100; |
int MesswertNick,MesswertRoll,MesswertGier; |
int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
volatile int NeutralAccX=0, NeutralAccY=0; |
volatile float NeutralAccZ = 0; |
long IntegralNick = 0,IntegralNick2 = 0; |
long IntegralRoll = 0,IntegralRoll2 = 0; |
long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
long Integral_Gier = 0; |
long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
volatile long Mess_Integral_Hoch = 0; |
int KompassValue = 0; |
int KompassStartwert = 0; |
int KompassRichtung = 0; |
uint8_t updKompass = 0; |
unsigned char MAX_GAS,MIN_GAS; |
unsigned char Notlandung = 0; |
unsigned char HoehenReglerAktiv = 0; |
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
float GyroFaktor; |
float IntegralFaktor; |
volatile int DiffNick,DiffRoll; |
int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
unsigned char MotorWert[5]; |
volatile unsigned char SenderOkay = 0; |
int StickNick = 0,StickRoll = 0,StickGier = 0; |
char MotorenEin = 0; |
int HoehenWert = 0; |
int SollHoehe = 0; |
int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
float Ki = FAKTOR_I; |
unsigned char Looping_Nick = 0,Looping_Roll = 0; |
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
unsigned char Parameter_UserParam1 = 0; |
unsigned char Parameter_UserParam2 = 0; |
unsigned char Parameter_UserParam3 = 0; |
unsigned char Parameter_UserParam4 = 0; |
unsigned char Parameter_UserParam5 = 0; |
unsigned char Parameter_UserParam6 = 0; |
unsigned char Parameter_UserParam7 = 0; |
unsigned char Parameter_UserParam8 = 0; |
unsigned char Parameter_ServoNickControl = 100; |
unsigned char Parameter_LoopGasLimit = 70; |
unsigned char Parameter_AchsKopplung1 = 0; |
unsigned char Parameter_AchsGegenKopplung1 = 0; |
unsigned char Parameter_DynamicStability = 100; |
struct mk_param_struct EE_Parameter; |
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
void Piep(unsigned char Anzahl) |
{ |
while(Anzahl--) |
{ |
if(MotorenEin) return; //auf keinen Fall im Flug! |
beeptime = 100; |
Delay_ms(250); |
} |
} |
/* |
//############################################################################ |
// Neutrallage kalibrieren und fest im EEPROM abspeichern |
void calib_acc(void) |
//############################################################################ |
{ |
unsigned int timer; |
acc_neutral.X = 0; |
acc_neutral.Y = 0; |
acc_neutral.Z = 0; |
CalibrierMittelwert(); |
timer = SetDelay(5); |
while (!CheckDelay(timer)); |
CalibrierMittelwert(); |
acc_neutral.X = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
acc_neutral.Y = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
acc_neutral.Z = Aktuell_az; |
eeprom_write_block(&acc_neutral,&ee_acc_neutral,sizeof(struct acc_neutral_struct)); |
} |
*/ |
//############################################################################ |
// Nullwerte ermitteln |
void SetNeutral(void) |
//############################################################################ |
{ |
NeutralAccX = 0; |
NeutralAccY = 0; |
NeutralAccZ = 0; |
AdNeutralNick = 0; |
AdNeutralRoll = 0; |
AdNeutralGier = 0; |
Parameter_AchsKopplung1 = 0; |
Parameter_AchsGegenKopplung1 = 0; |
CalibrierMittelwert(); |
Delay_ms_Mess(100); |
CalibrierMittelwert(); |
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
{ |
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
} |
AdNeutralNick= AdWertNick; |
AdNeutralRoll= AdWertRoll; |
AdNeutralGier= AdWertGier; |
StartNeutralRoll = AdNeutralRoll; |
StartNeutralNick = AdNeutralNick; |
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
{ |
NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
NeutralAccZ = Aktuell_az; |
} |
else |
{ |
NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
} |
Mess_IntegralNick = 0; |
Mess_IntegralNick2 = 0; |
Mess_IntegralRoll = 0; |
Mess_IntegralRoll2 = 0; |
Mess_Integral_Gier = 0; |
MesswertNick = 0; |
MesswertRoll = 0; |
MesswertGier = 0; |
StartLuftdruck = Luftdruck; |
HoeheD = 0; |
Mess_Integral_Hoch = 0; |
KompassStartwert = KompassValue; |
GPS_Neutral(); |
beeptime = 50; |
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
ExternHoehenValue = 0; |
} |
//############################################################################ |
// Bearbeitet die Messwerte |
void Mittelwert(void) |
//############################################################################ |
{ |
static signed long tmpl,tmpl2; |
MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
MesswertRoll = (signed int) AdWertRoll - AdNeutralRoll; |
MesswertNick = (signed int) AdWertNick - AdNeutralNick; |
// Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 2L; |
Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 2L; |
Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdWertAccHoch)) / 2L; |
IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
IntegralAccZ += Aktuell_az - NeutralAccZ; |
// Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
Mess_Integral_Gier += MesswertGier; |
Mess_Integral_Gier2 += MesswertGier; |
// Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
{ |
tmpl = Mess_IntegralNick / 4096L; |
tmpl *= MesswertGier; |
tmpl *= Parameter_AchsKopplung1; //125 |
tmpl /= 2048L; |
tmpl2 = Mess_IntegralRoll / 4096L; |
tmpl2 *= MesswertGier; |
tmpl2 *= Parameter_AchsKopplung1; |
tmpl2 /= 2048L; |
} |
else tmpl = tmpl2 = 0; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
MesswertRoll += tmpl; |
MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
Mess_IntegralRoll2 += MesswertRoll; |
Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
if(Mess_IntegralRoll > Umschlag180Roll) |
{ |
Mess_IntegralRoll = -(Umschlag180Roll - 10000L); |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
} |
if(Mess_IntegralRoll <-Umschlag180Roll) |
{ |
Mess_IntegralRoll = (Umschlag180Roll - 10000L); |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
} |
if(AdWertRoll < 15) MesswertRoll = -1000; |
if(AdWertRoll < 7) MesswertRoll = -2000; |
if(PlatinenVersion == 10) |
{ |
if(AdWertRoll > 1010) MesswertRoll = +1000; |
if(AdWertRoll > 1017) MesswertRoll = +2000; |
} |
else |
{ |
if(AdWertRoll > 2020) MesswertRoll = +1000; |
if(AdWertRoll > 2034) MesswertRoll = +2000; |
} |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
MesswertNick -= tmpl2; |
MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
Mess_IntegralNick2 += MesswertNick; |
Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
if(Mess_IntegralNick > Umschlag180Nick) |
{ |
Mess_IntegralNick = -(Umschlag180Nick - 10000L); |
Mess_IntegralNick2 = Mess_IntegralNick; |
} |
if(Mess_IntegralNick <-Umschlag180Nick) |
{ |
Mess_IntegralNick = (Umschlag180Nick - 10000L); |
Mess_IntegralNick2 = Mess_IntegralNick; |
} |
if(AdWertNick < 15) MesswertNick = -1000; |
if(AdWertNick < 7) MesswertNick = -2000; |
if(PlatinenVersion == 10) |
{ |
if(AdWertNick > 1010) MesswertNick = +1000; |
if(AdWertNick > 1017) MesswertNick = +2000; |
} |
else |
{ |
if(AdWertNick > 2020) MesswertNick = +1000; |
if(AdWertNick > 2034) MesswertNick = +2000; |
} |
//++++++++++++++++++++++++++++++++++++++++++++++++ |
// ADC einschalten |
ANALOG_ON; |
//++++++++++++++++++++++++++++++++++++++++++++++++ |
Integral_Gier = Mess_Integral_Gier; |
IntegralNick = Mess_IntegralNick; |
IntegralRoll = Mess_IntegralRoll; |
IntegralNick2 = Mess_IntegralNick2; |
IntegralRoll2 = Mess_IntegralRoll2; |
if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
{ |
if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
} |
if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
} |
//############################################################################ |
// Messwerte beim Ermitteln der Nullage |
void CalibrierMittelwert(void) |
//############################################################################ |
{ |
// ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
ANALOG_OFF; |
MesswertNick = AdWertNick; |
MesswertRoll = AdWertRoll; |
MesswertGier = AdWertGier; |
Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
Mittelwert_AccHoch = AdWertAccHoch; |
// ADC einschalten |
ANALOG_ON; |
if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
} |
//############################################################################ |
// Senden der Motorwerte per I2C-Bus |
void SendMotorData(void) |
//############################################################################ |
{ |
if(MOTOR_OFF || !MotorenEin) |
{ |
Motor_Hinten = 0; |
Motor_Vorne = 0; |
Motor_Rechts = 0; |
Motor_Links = 0; |
if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
if(MotorTest[2]) Motor_Links = MotorTest[2]; |
if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
} |
DebugOut.Analog[12] = Motor_Vorne; |
DebugOut.Analog[13] = Motor_Hinten; |
DebugOut.Analog[14] = Motor_Links; |
DebugOut.Analog[15] = Motor_Rechts; |
//Start I2C Interrupt Mode |
twi_state = 0; |
motor = 0; |
i2c_start(); |
} |
//############################################################################ |
// Trägt ggf. das Poti als Parameter ein |
void ParameterZuordnung(void) |
//############################################################################ |
{ |
#define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
Ki = (float) Parameter_I_Faktor * 0.0001; |
MAX_GAS = EE_Parameter.Gas_Max; |
MIN_GAS = EE_Parameter.Gas_Min; |
} |
//############################################################################ |
// |
void MotorRegler(void) |
//############################################################################ |
{ |
int motorwert,pd_ergebnis,h,tmp_int; |
int GierMischanteil,GasMischanteil; |
static long SummeNick=0,SummeRoll=0; |
static long sollGier = 0,tmp_long,tmp_long2; |
static long IntegralFehlerNick = 0; |
static long IntegralFehlerRoll = 0; |
static unsigned int RcLostTimer; |
static unsigned char delay_neutral = 0; |
static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
static unsigned int modell_fliegt = 0; |
static int hoehenregler = 0; |
static char TimerWerteausgabe = 0; |
static char NeueKompassRichtungMerken = 0; |
static long ausgleichNick, ausgleichRoll; |
Mittelwert(); |
GRN_ON; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gaswert ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20; |
if(GasMischanteil < 0) GasMischanteil = 0; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Emfang schlecht |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay < 100) |
{ |
if(!PcZugriff) |
{ |
if(BeepMuster == 0xffff) |
{ |
beeptime = 15000; |
BeepMuster = 0x0c00; |
} |
} |
if(RcLostTimer) RcLostTimer--; |
else |
{ |
MotorenEin = 0; |
Notlandung = 0; |
} |
ROT_ON; |
if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
{ |
GasMischanteil = EE_Parameter.NotGas; |
Notlandung = 1; |
PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
} |
else MotorenEin = 0; |
} |
else |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Emfang gut |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay > 140) |
{ |
Notlandung = 0; |
RcLostTimer = EE_Parameter.NotGasZeit * 50; |
if(GasMischanteil > 40) |
{ |
if(modell_fliegt < 0xffff) modell_fliegt++; |
} |
if((modell_fliegt < 200) || (GasMischanteil < 40)) |
{ |
SummeNick = 0; |
SummeRoll = 0; |
Mess_Integral_Gier = 0; |
Mess_Integral_Gier2 = 0; |
} |
if((GasMischanteil > 200) && MotorenEin == 0) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// auf Nullwerte kalibrieren |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
GRN_OFF; |
MotorenEin = 0; |
delay_neutral = 0; |
modell_fliegt = 0; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
{ |
unsigned char setting=1; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
} |
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
{ |
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
} |
ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
SetNeutral(); |
Piep(GetActiveParamSetNumber()); |
} |
} |
else |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
GRN_OFF; |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
MotorenEin = 0; |
delay_neutral = 0; |
modell_fliegt = 0; |
SetNeutral(); |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
Piep(GetActiveParamSetNumber()); |
} |
} |
else delay_neutral = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gas ist unten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(GasMischanteil < 35) |
{ |
// Starten |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Einschalten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(++delay_einschalten > 200) |
{ |
delay_einschalten = 200; |
modell_fliegt = 1; |
MotorenEin = 1; |
sollGier = 0; |
Mess_Integral_Gier = 0; |
Mess_Integral_Gier2 = 0; |
Mess_IntegralNick = 0; |
Mess_IntegralRoll = 0; |
Mess_IntegralNick2 = IntegralNick; |
Mess_IntegralRoll2 = IntegralRoll; |
SummeNick = 0; |
SummeRoll = 0; |
} |
} |
else delay_einschalten = 0; |
//Auf Neutralwerte setzen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Auschalten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
{ |
if(++delay_ausschalten > 200) // nicht sofort |
{ |
MotorenEin = 0; |
delay_ausschalten = 200; |
modell_fliegt = 0; |
} |
} |
else delay_ausschalten = 0; |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// neue Werte von der Funke |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!NewPpmData-- || Notlandung) |
{ |
int tmp_int; |
ParameterZuordnung(); |
StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
#define KEY_VALUE (Parameter_UserParam1 * 4) //(Poti3 * 8) |
if(DubWiseKeys[1]) beeptime = 10; |
if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
StickNick += ExternStickNick / 8; |
StickRoll += ExternStickRoll / 8; |
StickGier += ExternStickGier; |
if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
if(GyroFaktor < 0) GyroFaktor = 0; |
if(IntegralFaktor < 0) IntegralFaktor = 0; |
// greift in den Stick ein, um ungewolltes überschlagen zu verhindern |
if(!(EE_Parameter.LoopConfig & CFG_LOOP_LINKS) && !(EE_Parameter.LoopConfig & CFG_LOOP_RECHTS)) |
{ |
if(IntegralNick > 60000) |
{ |
StickNick -= 8 * EE_Parameter.Stick_P; |
if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P; |
} |
else |
if(IntegralNick < -60000) |
{ |
StickNick += 8 * EE_Parameter.Stick_P; |
if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P; |
} |
if(IntegralRoll > 60000) |
{ |
StickRoll -= 8 * EE_Parameter.Stick_P; |
if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P; |
} |
else |
if(IntegralRoll < -60000) |
{ |
StickRoll += 8 * EE_Parameter.Stick_P; |
if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P; |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Looping? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
else |
{ |
{ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
else |
{ |
if(Looping_Rechts) // Hysterese |
{ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
else |
{ |
if(Looping_Oben) // Hysterese |
{ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
else |
{ |
if(Looping_Unten) // Hysterese |
{ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
} |
} |
if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
} // Ende neue Funken-Werte |
if(Looping_Roll) beeptime = 100; |
if(Looping_Roll || Looping_Nick) |
{ |
if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Bei Empfangsausfall im Flug |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(Notlandung) |
{ |
StickGier = 0; |
StickNick = 0; |
StickRoll = 0; |
GyroFaktor = 0.1; |
IntegralFaktor = 0.005; |
Looping_Roll = 0; |
Looping_Nick = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Integrale auf ACC-Signal abgleichen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define ABGLEICH_ANZAHL 256L |
MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
MittelIntegralRoll += IntegralRoll; |
MittelIntegralNick2 += IntegralNick2; |
MittelIntegralRoll2 += IntegralRoll2; |
if(Looping_Nick || Looping_Roll) |
{ |
IntegralAccNick = 0; |
IntegralAccRoll = 0; |
MittelIntegralNick = 0; |
MittelIntegralRoll = 0; |
MittelIntegralNick2 = 0; |
MittelIntegralRoll2 = 0; |
Mess_IntegralNick2 = Mess_IntegralNick; |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
ZaehlMessungen = 0; |
LageKorrekturNick = 0; |
LageKorrekturRoll = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!Looping_Nick && !Looping_Roll) |
{ |
long tmp_long, tmp_long2; |
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
tmp_long /= 16; |
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
tmp_long2 /= 16; |
#define AUSGLEICH 32 //(Parameter_UserParam1 / 2) |
if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
Mess_IntegralNick -= tmp_long; |
Mess_IntegralRoll -= tmp_long2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
{ |
static int cnt = 0; |
static char last_n_p,last_n_n,last_r_p,last_r_n; |
static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
if(!Looping_Nick && !Looping_Roll) |
{ |
MittelIntegralNick /= ABGLEICH_ANZAHL; |
MittelIntegralRoll /= ABGLEICH_ANZAHL; |
IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
#define MAX_I 0//(Poti2/10) |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
// Mess_IntegralNick -= ausgleichNick; |
// Mess_IntegralRoll -= ausgleichRoll; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gyro-Drift ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
// tmp_long = (long)(MittelIntegralNick2 - (long)IntegralAccNick); |
// tmp_long2 = (long)(MittelIntegralRoll2 - (long)IntegralAccRoll); |
tmp_long = IntegralNick2 - IntegralNick; |
tmp_long2 = IntegralRoll2 - IntegralRoll; |
//DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
IntegralFehlerNick = tmp_long; |
IntegralFehlerRoll = tmp_long2; |
Mess_IntegralNick2 -= IntegralFehlerNick; |
Mess_IntegralRoll2 -= IntegralFehlerRoll; |
// IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
// IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
DebugOut.Analog[17] = IntegralAccNick / 26; |
DebugOut.Analog[18] = IntegralAccRoll / 26; |
DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
DebugOut.Analog[21] = MittelIntegralNick / 26; |
DebugOut.Analog[22] = MittelIntegralRoll / 26; |
//DebugOut.Analog[28] = ausgleichNick; |
DebugOut.Analog[29] = ausgleichRoll; |
DebugOut.Analog[30] = LageKorrekturRoll * 10; |
#define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
#define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
#define BEWEGUNGS_LIMIT 20000 |
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT) |
{ |
if(IntegralFehlerNick > FEHLER_LIMIT2) |
{ |
if(last_n_p) |
{ |
cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
ausgleichNick = IntegralFehlerNick / 8; |
if(ausgleichNick > 5000) ausgleichNick = 5000; |
LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
} |
else last_n_p = 1; |
} else last_n_p = 0; |
if(IntegralFehlerNick < -FEHLER_LIMIT2) |
{ |
if(last_n_n) |
{ |
cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
ausgleichNick = IntegralFehlerNick / 8; |
if(ausgleichNick < -5000) ausgleichNick = -5000; |
LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
} |
else last_n_n = 1; |
} else last_n_n = 0; |
} else cnt = 0; |
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
ausgleichRoll = 0; |
if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT) |
{ |
if(IntegralFehlerRoll > FEHLER_LIMIT2) |
{ |
if(last_r_p) |
{ |
cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
ausgleichRoll = IntegralFehlerRoll / 8; |
if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
} |
else last_r_p = 1; |
} else last_r_p = 0; |
if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
{ |
if(last_r_n) |
{ |
cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
ausgleichRoll = IntegralFehlerRoll / 8; |
if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
} |
else last_r_n = 1; |
} else last_r_n = 0; |
} else |
{ |
cnt = 0; |
} |
DebugOut.Analog[27] = ausgleichRoll; |
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
//if(cnt > 1) beeptime = 50; |
if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
} |
else |
{ |
LageKorrekturRoll = 0; |
LageKorrekturNick = 0; |
} |
if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MittelIntegralNick_Alt = MittelIntegralNick; |
MittelIntegralRoll_Alt = MittelIntegralRoll; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralAccNick = 0; |
IntegralAccRoll = 0; |
IntegralAccZ = 0; |
MittelIntegralNick = 0; |
MittelIntegralRoll = 0; |
MittelIntegralNick2 = 0; |
MittelIntegralRoll2 = 0; |
ZaehlMessungen = 0; |
} |
//DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor); |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gieren |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(abs(StickGier) > 20) // war 35 |
{ |
if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
} |
tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
sollGier = tmp_int; |
Mess_Integral_Gier -= tmp_int; |
if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Kompass |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
{ |
int w,v; |
if (!updKompass--) // Aufruf mit ~10 Hz |
{ |
KompassValue = heading_MM3(); |
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
updKompass = 50; |
} |
w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
v = abs(IntegralRoll /512); |
if(v > w) w = v; // grösste Neigung ermitteln |
if(w < 35 && NeueKompassRichtungMerken) |
{ |
KompassStartwert = KompassValue; |
NeueKompassRichtungMerken = 0; |
} |
w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
if(w > 0) |
{ |
Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugwerte zuordnen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!TimerWerteausgabe--) |
{ |
TimerWerteausgabe = 24; |
DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
DebugOut.Analog[2] = Mittelwert_AccNick; |
DebugOut.Analog[3] = Mittelwert_AccRoll; |
DebugOut.Analog[4] = MesswertGier; |
DebugOut.Analog[5] = HoehenWert; |
DebugOut.Analog[6] =(Mess_Integral_Hoch / 512); |
DebugOut.Analog[8] = KompassValue; |
DebugOut.Analog[9] = UBat; |
DebugOut.Analog[10] = SenderOkay; |
DebugOut.Analog[16] = Mittelwert_AccHoch; |
/* DebugOut.Analog[16] = motor_rx[0]; |
DebugOut.Analog[17] = motor_rx[1]; |
DebugOut.Analog[18] = motor_rx[2]; |
DebugOut.Analog[19] = motor_rx[3]; |
DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
DebugOut.Analog[20] /= 14; |
DebugOut.Analog[21] = motor_rx[4]; |
DebugOut.Analog[22] = motor_rx[5]; |
DebugOut.Analog[23] = motor_rx[6]; |
DebugOut.Analog[24] = motor_rx[7]; |
DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
*/ |
// DebugOut.Analog[9] = MesswertNick; |
// DebugOut.Analog[9] = SollHoehe; |
// DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
// DebugOut.Analog[11] = KompassStartwert; |
// DebugOut.Analog[10] = Parameter_Gyro_I; |
// DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
// DebugOut.Analog[9] = KompassRichtung; |
// DebugOut.Analog[10] = GasMischanteil; |
// DebugOut.Analog[3] = HoeheD * 32; |
// DebugOut.Analog[4] = hoehenregler; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
// MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
MesswertGier = MesswertGier * (GyroFaktor) + Integral_Gier * IntegralFaktor/2; |
DebugOut.Analog[28] = MesswertRoll; |
DebugOut.Analog[25] = IntegralRoll * IntegralFaktor; |
DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor); |
// Maximalwerte abfangen |
#define MAX_SENSOR 2048 |
if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Höhenregelung |
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//OCR0B = 180 - (Poti1 + 120) / 4; |
//DruckOffsetSetting = OCR0B; |
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
{ |
int tmp_int; |
if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
{ |
if(Parameter_MaxHoehe < 50) |
{ |
SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
HoehenReglerAktiv = 0; |
} |
else |
HoehenReglerAktiv = 1; |
} |
else |
{ |
SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
HoehenReglerAktiv = 1; |
} |
if(Notlandung) SollHoehe = 0; |
h = HoehenWert; |
if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
{ h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
h = GasMischanteil - h; // vom Gas abziehen |
h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
if(tmp_int > 50) tmp_int = 50; |
else if(tmp_int < -50) tmp_int = -50; |
h -= tmp_int; |
hoehenregler = (hoehenregler*15 + h) / 16; |
if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
{ |
if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
} |
if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
GasMischanteil = hoehenregler; |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Mischer und PI-Regler |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DebugOut.Analog[7] = GasMischanteil; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gier-Anteil |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define MUL_G 1.0 |
GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
//GierMischanteil = 0; |
if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil)); |
if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil)); |
if(GasMischanteil < 20) GierMischanteil = 0; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Nick-Achse |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffNick = MesswertNick - (StickNick - GPS_Nick); // Differenz bestimmen |
if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung |
else SummeNick += DiffNick; // I-Anteil bei HH |
if(SummeNick > 0) SummeNick-= 2 ; else SummeNick += 2 ; |
if(SummeNick > 16000) SummeNick = 16000; |
if(SummeNick < -16000) SummeNick = -16000; |
pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
// Motor Vorn |
tmp_int = ((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
if ((motorwert < 0)) motorwert = 0; |
else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
Motor_Vorne = motorwert; |
// Motor Heck |
motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
if ((motorwert < 0)) motorwert = 0; |
else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
Motor_Hinten = motorwert; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Roll-Achse |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffRoll = MesswertRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
else SummeRoll += DiffRoll; // I-Anteil bei HH |
if(SummeRoll > 0) SummeRoll-= 2 ; else SummeRoll += 2 ; |
if(SummeRoll > 16000) SummeRoll = 16000; |
if(SummeRoll < -16000) SummeRoll = -16000; |
pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
tmp_int = ((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
// Motor Links |
motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
if ((motorwert < 0)) motorwert = 0; |
else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
Motor_Links = motorwert; |
// Motor Rechts |
motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
if ((motorwert < 0)) motorwert = 0; |
else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
Motor_Rechts = motorwert; |
// +++++++++++++++++++++++++++++++++++++++++++++++ |
} |
/branches/Nick666/V0.67g MicroMag3/fc.h |
---|
0,0 → 1,153 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
#ifndef _FC_H |
#define _FC_H |
extern volatile unsigned int I2CTimeout; |
extern unsigned char Sekunde,Minute; |
extern long Mess_IntegralNick,Mess_IntegralNick2; |
extern long Mess_IntegralRoll,Mess_IntegralRoll2; |
extern volatile long Mess_Integral_Hoch; |
extern long Mess_Integral_Gier,Mess_Integral_Gier2; |
extern int KompassValue; |
extern int KompassStartwert; |
extern int KompassRichtung; |
extern long IntegralNick,IntegralNick2; |
extern long IntegralRoll,IntegralRoll2; |
extern long IntegralAccNick,IntegralAccRoll,IntegralAccZ; |
extern long Integral_Gier; |
extern int HoehenWert; |
extern int SollHoehe; |
extern int MesswertNick,MesswertRoll,MesswertGier; |
extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch; |
extern volatile int NeutralAccX, NeutralAccY; |
extern volatile float NeutralAccZ; |
extern long Umschlag180Nick, Umschlag180Roll; |
extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
void MotorRegler(void); |
void SendMotorData(void); |
void CalibrierMittelwert(void); |
void Mittelwert(void); |
void SetNeutral(void); |
void Piep(unsigned char Anzahl); |
extern void DefaultKonstanten(void); |
void DefaultKonstanten1(void); |
void DefaultKonstanten2(void); |
extern unsigned char h,m,s; |
extern volatile unsigned char Timeout ; |
extern volatile int DiffNick,DiffRoll; |
extern int Poti1, Poti2, Poti3, Poti4; |
extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
extern unsigned char MotorWert[5]; |
extern volatile unsigned char SenderOkay; |
extern int StickNick,StickRoll,StickGier; |
extern char MotorenEin; |
extern void DefaultKonstanten1(void); |
extern void DefaultKonstanten2(void); |
struct acc_neutral_struct |
{ |
volatile int X; |
volatile int Y; |
volatile float Z; |
}; |
extern struct acc_neutral_struct acc_neutral; |
extern void calib_acc(void); |
struct mk_param_struct |
{ |
unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
unsigned char Hoehe_MinGas; // Wert : 0-100 |
unsigned char Luftdruck_D; // Wert : 0-250 |
unsigned char MaxHoehe; // Wert : 0-32 |
unsigned char Hoehe_P; // Wert : 0-32 |
unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
unsigned char Stick_P; // Wert : 1-6 |
unsigned char Stick_D; // Wert : 0-64 |
unsigned char Gier_P; // Wert : 1-20 |
unsigned char Gas_Min; // Wert : 0-32 |
unsigned char Gas_Max; // Wert : 33-250 |
unsigned char GyroAccFaktor; // Wert : 1-64 |
unsigned char KompassWirkung; // Wert : 0-32 |
unsigned char Gyro_P; // Wert : 10-250 |
unsigned char Gyro_I; // Wert : 0-250 |
unsigned char UnterspannungsWarnung; // Wert : 0-250 |
unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
unsigned char UfoAusrichtung; // X oder + Formation |
unsigned char I_Faktor; // Wert : 0-250 |
unsigned char UserParam1; // Wert : 0-250 |
unsigned char UserParam2; // Wert : 0-250 |
unsigned char UserParam3; // Wert : 0-250 |
unsigned char UserParam4; // Wert : 0-250 |
unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
unsigned char ServoNickRefresh; // |
unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
unsigned char Driftkomp; |
unsigned char DynamicStability; |
unsigned char UserParam5; // Wert : 0-250 |
unsigned char UserParam6; // Wert : 0-250 |
unsigned char UserParam7; // Wert : 0-250 |
unsigned char UserParam8; // Wert : 0-250 |
//------------------------------------------------ |
unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
unsigned char Reserved[4]; |
char Name[12]; |
}; |
/* |
unsigned char ServoNickMax; // Wert : 0-250 |
unsigned char ServoNickRefresh; // |
unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
//------------------------------------------------ |
unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
unsigned char Reserved[4]; |
char Name[12]; |
*/ |
extern struct mk_param_struct EE_Parameter; |
extern unsigned char Parameter_Luftdruck_D; |
extern unsigned char Parameter_MaxHoehe; |
extern unsigned char Parameter_Hoehe_P; |
extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
extern unsigned char Parameter_KompassWirkung; |
extern unsigned char Parameter_Gyro_P; |
extern unsigned char Parameter_Gyro_I; |
extern unsigned char Parameter_Gier_P; |
extern unsigned char Parameter_ServoNickControl; |
extern unsigned char Parameter_AchsKopplung1; |
extern unsigned char Parameter_AchsGegenKopplung1; |
#endif //_FC_H |
/branches/Nick666/V0.67g MicroMag3/flight.pnproj |
---|
0,0 → 1,0 |
<Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="eeprom.c"></File><File path="compass.c"></File><File path="compass.h"></File><File path="mymath.c"></File><File path="mymath.h"></File></Project> |
/branches/Nick666/V0.67g MicroMag3/flight.pnps |
---|
0,0 → 1,0 |
<pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
/branches/Nick666/V0.67g MicroMag3/gps.h |
---|
0,0 → 1,14 |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Nick; |
extern signed int GPS_Roll; |
void GPS_Neutral(void); |
void GPS_BerechneZielrichtung(void); |
/branches/Nick666/V0.67g MicroMag3/main.c |
---|
0,0 → 1,263 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
// Reservierung im EEPROM |
unsigned char EEPromArray[10] EEMEM; |
struct mk_param_struct EEParameterArray[5] EEMEM; |
unsigned char PlatinenVersion = 10; |
// -- Parametersatz aus EEPROM lesen --- |
// number [0..5] |
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
{ |
if (number > 5) number = 5; |
number--; // Auf Index 0 bis 4 anpassen |
eeprom_read_block(buffer, &EEParameterArray[number], length); |
} |
// -- Parametersatz ins EEPROM schreiben --- |
// number [0..5] |
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
{ |
if (number > 5) number = 5; |
number--; // Auf Index 0 bis 4 anpassen |
eeprom_write_block(buffer, &EEParameterArray[number], length); |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
} |
unsigned char GetActiveParamSetNumber(void) |
{ |
unsigned char set; |
set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
if(set > 5) |
{ |
set = 2; |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
} |
return(set); |
} |
//############################################################################ |
//Hauptprogramm |
int main (void) |
//############################################################################ |
{ |
unsigned int timer; |
//unsigned int timer2 = 0; |
DDRB = 0x00; |
PORTB = 0x00; |
for(timer = 0; timer < 1000; timer++); // verzögern |
if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
DDRC = 0x81; // SCL |
PORTC = 0xff; // Pullup SDA |
DDRB = 0x1B; // LEDs und Druckoffset |
PORTB = 0x01; // LED_Rot |
DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
DDRD |=0x80; // J7 |
PORTD = 0xF7; // LED |
MCUSR &=~(1<<WDRF); |
WDTCSR |= (1<<WDCE)|(1<<WDE); |
WDTCSR = 0; |
beeptime = 2000; |
StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
ROT_OFF; |
Timer_Init(); |
UART_Init(); |
rc_sum_init(); |
ADC_Init(); |
i2c_init(); |
init_MM3(); |
sei(); |
VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a'); |
printf("\n\r=============================="); |
GRN_ON; |
#define EE_DATENREVISION 68 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
{ |
printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
DefaultKonstanten1(); |
for (unsigned char i=0;i<6;i++) |
{ |
if(i==2) DefaultKonstanten2(); // Kamera |
if(i==3) DefaultKonstanten3(); // Beginner |
if(i>3) DefaultKonstanten2(); // Kamera |
WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
} |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
} |
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
{ |
printf("\n\rACC nicht abgeglichen!"); |
} |
ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
//kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
timer = SetDelay(500); |
while(!CheckDelay(timer)); |
//Kompass kalibrieren? |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100) |
{ |
printf("\n\rKalibriere Kompass"); |
calib_MM3(); |
} |
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
{ |
printf("\n\rAbgleich Luftdrucksensor.."); |
timer = SetDelay(1000); |
SucheLuftruckOffset(); |
while (!CheckDelay(timer)); |
printf("OK\n\r"); |
} |
SetNeutral(); |
ROT_OFF; |
beeptime = 2000; |
DebugIn.Analog[1] = 1000; |
DebugIn.Digital[0] = 0x55; |
printf("\n\rSteuerung: "); |
if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
else printf("Neutral"); |
printf("\n\n\r"); |
LcdClear(); |
I2CTimeout = 5000; |
while (1) |
{ |
if (UpdateMotor) // ReglerIntervall |
{ |
// SPI_TransmitByte(); |
UpdateMotor=0; |
//PORTD |= 0x08; |
MotorRegler(); |
//PORTD &= ~0x08; |
SendMotorData(); |
ROT_OFF; |
if(PcZugriff) PcZugriff--; |
else |
{ |
DubWiseKeys[0] = 0; |
DubWiseKeys[1] = 0; |
ExternStickNick = 0; |
ExternStickRoll = 0; |
ExternStickGier = 0; |
} |
if(SenderOkay) SenderOkay--; |
if(!I2CTimeout) |
{ |
I2CTimeout = 5; |
i2c_reset(); |
if((BeepMuster == 0xffff) && MotorenEin) |
{ |
beeptime = 10000; |
BeepMuster = 0x0080; |
} |
} |
else |
{ |
I2CTimeout--; |
ROT_OFF; |
} |
} |
if(SIO_DEBUG) |
{ |
DatenUebertragung(); |
BearbeiteRxDaten(); |
} |
else BearbeiteRxDaten(); |
if(CheckDelay(timer)) |
{ |
if(UBat < EE_Parameter.UnterspannungsWarnung) |
{ |
if(BeepMuster == 0xffff) |
{ |
beeptime = 6000; |
BeepMuster = 0x0300; |
} |
} |
// SPI_StartTransmitPacket(); |
timer = SetDelay(100); |
} |
} |
return (1); |
} |
/branches/Nick666/V0.67g MicroMag3/main.h |
---|
0,0 → 1,100 |
#ifndef _MAIN_H |
#define _MAIN_H |
//Hier die Quarz Frequenz einstellen |
#if defined (__AVR_ATmega32__) |
#define SYSCLK 20000000L //Quarz Frequenz in Hz |
#endif |
#if defined (__AVR_ATmega644__) |
#define SYSCLK 20000000L //Quarz Frequenz in Hz |
//#define SYSCLK 16000000L //Quarz Frequenz in Hz |
#endif |
// neue Hardware |
#define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
#define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;} |
#define ROT_FLASH PORTB ^= 0x01 |
#define GRN_OFF PORTB &=~0x02 |
#define GRN_ON PORTB |= 0x02 |
#define GRN_FLASH PORTB ^= 0x02 |
#define F_CPU SYSCLK |
//#ifndef F_CPU |
//#error ################## F_CPU nicht definiert oder ungültig ############# |
//#endif |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define EEPROM_ADR_VALID 1 |
#define EEPROM_ADR_ACTIVE_SET 2 |
#define EEPROM_ADR_LAST_OFFSET 3 |
#define EEPROM_ADR_ACC_NICK 4 |
#define EEPROM_ADR_ACC_ROLL 6 |
#define EEPROM_ADR_ACC_Z 8 |
#define CFG_HOEHENREGELUNG 0x01 |
#define CFG_HOEHEN_SCHALTER 0x02 |
#define CFG_HEADING_HOLD 0x04 |
#define CFG_KOMPASS_AKTIV 0x08 |
#define CFG_KOMPASS_FIX 0x10 |
#define CFG_GPS_AKTIV 0x20 |
#define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
#define CFG_DREHRATEN_BEGRENZER 0x80 |
#define CFG_LOOP_OBEN 0x01 |
#define CFG_LOOP_UNTEN 0x02 |
#define CFG_LOOP_LINKS 0x04 |
#define CFG_LOOP_RECHTS 0x08 |
//#define SYSCLK |
//extern unsigned long SYSCLK; |
extern volatile unsigned char SenderOkay; |
extern unsigned char PlatinenVersion; |
void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
extern unsigned char GetActiveParamSetNumber(void); |
extern unsigned char EEPromArray[]; |
#include <stdlib.h> |
#include <string.h> |
#include <avr/io.h> |
#include <avr/pgmspace.h> |
#include <avr/interrupt.h> |
#include <avr/eeprom.h> |
#include <avr/boot.h> |
#include <avr/wdt.h> |
#include "old_macros.h" |
#include "_Settings.h" |
#include "printf_P.h" |
#include "timer0.h" |
#include "uart.h" |
#include "analog.h" |
#include "twimaster.h" |
#include "menu.h" |
#include "rc.h" |
#include "fc.h" |
#include "gps.h" |
#include "compass.h" |
#include "mymath.h" |
#ifndef EEMEM |
#define EEMEM __attribute__ ((section (".eeprom"))) |
#endif |
#define DEBUG_DISPLAY_INTERVALL 123 // in ms |
#define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
#endif //_MAIN_H |
/branches/Nick666/V0.67g MicroMag3/makefile |
---|
0,0 → 1,419 |
#-------------------------------------------------------------------- |
# MCU name |
MCU = atmega644 |
F_CPU = 20000000 |
#------------------------------------------------------------------- |
HAUPT_VERSION = 0 |
NEBEN_VERSION = 67 |
VERSION_INDEX = 6 |
VERSION_KOMPATIBEL = 7 # PC-Kompatibilität |
#------------------------------------------------------------------- |
ifeq ($(MCU), atmega32) |
# FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
HEX_NAME = MEGA32 |
endif |
ifeq ($(MCU), atmega644) |
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
#FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
# -u bei neuen Controllern wieder einspielen |
HEX_NAME = MEGA644 |
endif |
ifeq ($(F_CPU), 16000000) |
QUARZ = 16MHZ |
endif |
ifeq ($(F_CPU), 20000000) |
QUARZ = 20MHZ |
endif |
# Output format. (can be srec, ihex, binary) |
FORMAT = ihex |
# Target file name (without extension). |
ifeq ($(VERSION_INDEX), 0) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)a |
endif |
ifeq ($(VERSION_INDEX), 1) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)b |
endif |
ifeq ($(VERSION_INDEX), 2) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)c |
endif |
ifeq ($(VERSION_INDEX), 3) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)d |
endif |
ifeq ($(VERSION_INDEX), 4) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)e |
endif |
ifeq ($(VERSION_INDEX), 5) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)f |
endif |
ifeq ($(VERSION_INDEX), 6) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)g |
endif |
ifeq ($(VERSION_INDEX), 7) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)h |
endif |
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
OPT = s |
########################################################################################################## |
# List C source files here. (C dependencies are automatically generated.) |
SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
SRC += twimaster.c rc.c fc.c GPS.c |
SRC += compass.c mymath.c |
#spi.c |
########################################################################################################## |
# List Assembler source files here. |
# Make them always end in a capital .S. Files ending in a lowercase .s |
# will not be considered source files but generated files (assembler |
# output from the compiler), and will be deleted upon "make clean"! |
# Even though the DOS/Win* filesystem matches both .s and .S the same, |
# it will preserve the spelling of the filenames, and gcc itself does |
# care about how the name is spelled on its command-line. |
ASRC = |
# List any extra directories to look for include files here. |
# Each directory must be seperated by a space. |
EXTRAINCDIRS = |
# Optional compiler flags. |
# -g: generate debugging information (for GDB, or for COFF conversion) |
# -O*: optimization level |
# -f...: tuning, see gcc manual and avr-libc documentation |
# -Wall...: warning level |
# -Wa,...: tell GCC to pass this to the assembler. |
# -ahlms: create assembler listing |
CFLAGS = -O$(OPT) \ |
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
-mtiny-stack -mcall-prologues \ |
-Wall -Wstrict-prototypes \ |
-Wa,-adhlns=$(<:.c=.lst) \ |
$(patsubst %,-I%,$(EXTRAINCDIRS)) |
# Set a "language standard" compiler flag. |
# Unremark just one line below to set the language standard to use. |
# gnu99 = C99 + GNU extensions. See GCC manual for more information. |
#CFLAGS += -std=c89 |
#CFLAGS += -std=gnu89 |
#CFLAGS += -std=c99 |
CFLAGS += -std=gnu99 |
CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) -DVERSION_INDEX=$(VERSION_INDEX) |
# Optional assembler flags. |
# -Wa,...: tell GCC to pass this to the assembler. |
# -ahlms: create listing |
# -gstabs: have the assembler create line number information; note that |
# for use in COFF files, additional information about filenames |
# and function names needs to be present in the assembler source |
# files -- see avr-libc docs [FIXME: not yet described there] |
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
# Optional linker flags. |
# -Wl,...: tell GCC to pass this to linker. |
# -Map: create map file |
# --cref: add cross reference to map file |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
# Additional libraries |
# Minimalistic printf version |
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
# Floating point printf version (requires -lm below) |
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
# -lm = math library |
LDFLAGS += -lm |
##LDFLAGS += -T./linkerfile/avr5.x |
# Programming support using avrdude. Settings and variables. |
# Programming hardware: alf avr910 avrisp bascom bsd |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
# |
# Type: avrdude -c ? |
# to get a full listing. |
# |
#AVRDUDE_PROGRAMMER = stk200 |
AVRDUDE_PROGRAMMER = dt006 |
#AVRDUDE_PROGRAMMER = ponyser |
#falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
#AVRDUDE_PORT = com1 # programmer connected to serial device |
AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
# Uncomment the following if you want avrdude's erase cycle counter. |
# Note that this counter needs to be initialized first using -Yn, |
# see avrdude manual. |
#AVRDUDE_ERASE += -y |
# Uncomment the following if you do /not/ wish a verification to be |
# performed after programming the device. |
AVRDUDE_FLAGS += -V |
# Increase verbosity level. Please use this when submitting bug |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
# to submit bug reports. |
#AVRDUDE_FLAGS += -v -v |
# --------------------------------------------------------------------------- |
# Define directories, if needed. |
DIRAVR = c:/winavr |
DIRAVRBIN = $(DIRAVR)/bin |
DIRAVRUTILS = $(DIRAVR)/utils/bin |
DIRINC = . |
DIRLIB = $(DIRAVR)/avr/lib |
# Define programs and commands. |
SHELL = sh |
CC = avr-gcc |
OBJCOPY = avr-objcopy |
OBJDUMP = avr-objdump |
SIZE = avr-size |
# Programming support using avrdude. |
AVRDUDE = avrdude |
REMOVE = rm -f |
COPY = cp |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
ELFSIZE = $(SIZE) -A $(TARGET).elf |
# Define Messages |
# English |
MSG_ERRORS_NONE = Errors: none |
MSG_BEGIN = -------- begin -------- |
MSG_END = -------- end -------- |
MSG_SIZE_BEFORE = Size before: |
MSG_SIZE_AFTER = Size after: |
MSG_COFF = Converting to AVR COFF: |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
MSG_FLASH = Creating load file for Flash: |
MSG_EEPROM = Creating load file for EEPROM: |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
MSG_LINKING = Linking: |
MSG_COMPILING = Compiling: |
MSG_ASSEMBLING = Assembling: |
MSG_CLEANING = Cleaning project: |
# Define all object files. |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
# Define all listing files. |
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
# Combine all necessary flags and optional flags. |
# Add target processor to flags. |
#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
# Default target. |
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
$(TARGET).lss $(TARGET).sym sizeafter finished end |
# Eye candy. |
# AVR Studio 3.x does not check make's exit code but relies on |
# the following magic strings to be generated by the compile job. |
begin: |
@echo |
@echo $(MSG_BEGIN) |
finished: |
@echo $(MSG_ERRORS_NONE) |
end: |
@echo $(MSG_END) |
@echo |
# Display size of file. |
sizebefore: |
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
sizeafter: |
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
# Display compiler version information. |
gccversion : |
@$(CC) --version |
# Convert ELF to COFF for use in debugging / simulating in |
# AVR Studio or VMLAB. |
COFFCONVERT=$(OBJCOPY) --debugging \ |
--change-section-address .data-0x800000 \ |
--change-section-address .bss-0x800000 \ |
--change-section-address .noinit-0x800000 \ |
--change-section-address .eeprom-0x810000 |
coff: $(TARGET).elf |
@echo |
@echo $(MSG_COFF) $(TARGET).cof |
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
extcoff: $(TARGET).elf |
@echo |
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
# Program the device. |
program: $(TARGET).hex $(TARGET).eep |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
# Create final output files (.hex, .eep) from ELF output file. |
%.hex: %.elf |
@echo |
@echo $(MSG_FLASH) $@ |
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
%.eep: %.elf |
@echo |
@echo $(MSG_EEPROM) $@ |
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
# Create extended listing file from ELF output file. |
%.lss: %.elf |
@echo |
@echo $(MSG_EXTENDED_LISTING) $@ |
$(OBJDUMP) -h -S $< > $@ |
# Create a symbol table from ELF output file. |
%.sym: %.elf |
@echo |
@echo $(MSG_SYMBOL_TABLE) $@ |
avr-nm -n $< > $@ |
# Link: create ELF output file from object files. |
.SECONDARY : $(TARGET).elf |
.PRECIOUS : $(OBJ) |
%.elf: $(OBJ) |
@echo |
@echo $(MSG_LINKING) $@ |
$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
# Compile: create object files from C source files. |
%.o : %.c |
@echo |
@echo $(MSG_COMPILING) $< |
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
# Compile: create assembler files from C source files. |
%.s : %.c |
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
# Assemble: create object files from assembler source files. |
%.o : %.S |
@echo |
@echo $(MSG_ASSEMBLING) $< |
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
# Target: clean project. |
clean: begin clean_list finished end |
clean_list : |
@echo |
@echo $(MSG_CLEANING) |
# $(REMOVE) $(TARGET).hex |
$(REMOVE) $(TARGET).eep |
$(REMOVE) $(TARGET).obj |
$(REMOVE) $(TARGET).cof |
$(REMOVE) $(TARGET).elf |
$(REMOVE) $(TARGET).map |
$(REMOVE) $(TARGET).obj |
$(REMOVE) $(TARGET).a90 |
$(REMOVE) $(TARGET).sym |
$(REMOVE) $(TARGET).lnk |
$(REMOVE) $(TARGET).lss |
$(REMOVE) $(OBJ) |
$(REMOVE) $(LST) |
$(REMOVE) $(SRC:.c=.s) |
$(REMOVE) $(SRC:.c=.d) |
# Automatically generate C source code dependencies. |
# (Code originally taken from the GNU make user manual and modified |
# (See README.txt Credits).) |
# |
# Note that this will work with sh (bash) and sed that is shipped with WinAVR |
# (see the SHELL variable defined above). |
# This may not work with other shells or other seds. |
# |
%.d: %.c |
set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
[ -s $@ ] || rm -f $@ |
# Remove the '-' if you want to see the dependency files generated. |
-include $(SRC:.c=.d) |
# Listing of phony targets. |
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
clean clean_list program |
/branches/Nick666/V0.67g MicroMag3/menu.c |
---|
0,0 → 1,139 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
unsigned int TestInt = 0; |
#define ARRAYGROESSE 10 |
unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
char DisplayBuff[80] = "Hallo Welt"; |
unsigned char DispPtr = 0; |
unsigned char RemoteTasten = 0; |
#define KEY1 0x01 |
#define KEY2 0x02 |
#define KEY3 0x04 |
#define KEY4 0x08 |
#define KEY5 0x10 |
void LcdClear(void) |
{ |
unsigned char i; |
for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
} |
void Menu(void) |
{ |
static unsigned char MaxMenue = 12,MenuePunkt=0; |
if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); RemotePollDisplayLine = -1; } |
if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); RemotePollDisplayLine = -1;} |
if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
LCD_printfxy(17,0,"[%i]",MenuePunkt); |
switch(MenuePunkt) |
{ |
case 0: |
LCD_printfxy(0,0,"++ MikroKopter ++"); |
LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a'); |
LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
LCD_printfxy(0,3,"(c) Holger Buss"); |
// if(RemoteTasten & KEY3) TestInt--; |
// if(RemoteTasten & KEY4) TestInt++; |
break; |
case 1: |
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
{ |
LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
} |
else |
{ |
LCD_printfxy(0,1,"Keine "); |
LCD_printfxy(0,2,"Höhenregelung"); |
} |
break; |
case 2: |
LCD_printfxy(0,0,"akt. Lage"); |
LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
break; |
case 3: |
LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
LCD_printfxy(0,3,"K7:%4i K8:%4i ",PPM_in[7],PPM_in[8]); |
break; |
case 4: |
LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]); |
break; |
case 5: |
LCD_printfxy(0,0,"Gyro - Sensor"); |
if(PlatinenVersion == 10) |
{ |
LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick); |
LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll); |
LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier); |
} |
else |
{ |
LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick/2); |
LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll/2); |
LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier/2); |
} |
break; |
case 6: |
LCD_printfxy(0,0,"ACC - Sensor"); |
LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
LCD_printfxy(0,3,"Hoch %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
break; |
case 7: |
LCD_printfxy(0,1,"Spannung: %5i",UBat); |
LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
break; |
case 8: |
LCD_printfxy(0,0,"Kompass "); |
LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
break; |
case 9: |
LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
break; |
case 10: |
LCD_printfxy(0,0,"Servo " ); |
LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
break; |
case 11: |
LCD_printfxy(0,0,"MM3 Off"); |
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 12: |
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; |
default: MaxMenue = MenuePunkt - 1; |
MenuePunkt = 0; |
break; |
} |
RemoteTasten = 0; |
} |
/branches/Nick666/V0.67g MicroMag3/menu.h |
---|
0,0 → 1,6 |
extern void Menu(void); |
extern void LcdClear(void); |
extern char DisplayBuff[80]; |
extern unsigned char DispPtr; |
extern unsigned char RemoteTasten; |
/branches/Nick666/V0.67g MicroMag3/mymath.c |
---|
0,0 → 1,110 |
/* |
Copyright 2007, Niklas Nold |
This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
either version 3 of the License, or (at your option) any later version. |
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
*/ |
#include "main.h" |
const uint8_t pgm_atan[346] PROGMEM = {0,1,2,3,4,4,5,6,7,8,9,10,11,11,12,13,14,15,16,17,17,18,19,20,21,21,22,23,24,24,25,26,27,27,28,29,29,30,31,31,32,33,33,34,35,35,36,36,37,37,38,39,39,40,40,41,41,42,42,43,43,44,44,45,45,45,46,46,47,47,48,48,48,49,49,50,50,50,51,51,51,52,52,52,53,53,53,54,54,54,55,55,55,55,56,56,56,57,57,57,57,58,58,58,58,59,59,59,59,60,60,60,60,60,61,61,61,61,62,62,62,62,62,63,63,63,63,63,63,64,64,64,64,64,64,65,65,65,65,65,65,66,66,66,66,66,66,66,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
//############################################################################ |
// Arkustangens2 im Gradmaß |
signed int atan2_i(signed int x, signed int y) |
//############################################################################ |
{ |
int i,angle; |
int8_t m; |
if (!x && !y) return 0; //atan2 = 0 für x und y = 0 |
if (y < 0) m=-1; |
else m=1; |
if (!x) return (90*m); // atan2 = 90° für x = 0 |
i = abs(((long)y*64) / x); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0,015625 -> y *64) |
if (i<346) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
else if (i>7334) angle = 90; // Grenzwert ist 90° |
else if (i>2444) angle = 89; // 89° bis 80° über Wertebereiche |
else if (i>1465) angle = 88; |
else if (i>1046) angle = 87; |
else if (i>813) angle = 86; |
else if (i>664) angle = 85; |
else if (i>561) angle = 84; |
else if (i>486) angle = 83; |
else if (i>428) angle = 82; |
else if (i>382) angle = 81; |
else angle = 80; // (i>345) |
if (x > 0) return (angle*m); // Quadrant I und IV |
else if ((x < 0) && (m > 0)) return (-angle + 180); // Quadrant II |
else return (angle - 180); // x < 0 && y < 0 Quadrant III |
} |
const uint16_t pgm_sinus_i[91] PROGMEM = {0,18,36,54,71,89,107,125,143,160,178,195,213,230,248,265,282,299,316,333,350,367,384,400,416,433,449,465,481,496,512,527,543,558,573,587,602,616,630,644,658,672,685,698,711,724,737,749,761,773,784,796,807,818,828,839,849,859,868,878,887,896,904,912,920,928,935,943,949,956,962,968,974,979,984,989,994,998,1002,1005,1008,1011,1014,1016,1018,1020,1022,1023,1023,1024,1024}; |
//############################################################################ |
// Kosinusfunktion im Gradmaß |
signed int cos_i(signed int winkel) |
//############################################################################ |
{ |
return (sin_i(90-winkel)); |
} |
//############################################################################ |
// Sinusfunktion im Gradmaß |
signed int sin_i(signed int winkel) |
//############################################################################ |
{ |
short int m,n; |
signed int sinus; |
if (winkel < 0) |
{ |
m = -1; |
winkel = abs(winkel); |
} |
else m = +1; |
// Quadranten auswerten |
if (winkel <= 90) n=1; |
else if ((winkel > 90) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
else if ((winkel > 180) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
else {winkel = 360 - winkel; n = -1;} //if ((winkel > 270) && (winkel <= 360)) |
sinus = pgm_read_word(&pgm_sinus_i[winkel]); |
return (sinus*m*n); |
} |
/* |
const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90}; |
//############################################################################ |
// Akurssinusfunktion im Gradmaß |
int8_t asin_i(signed int i) |
//############################################################################ |
{ |
signed char m; |
if (i < 0) {m=-1;i=abs(i);} |
else m=1; |
i %= 200; |
return (pgm_read_byte(&pgm_asin[i]) * m); |
} |
*/ |
/branches/Nick666/V0.67g MicroMag3/mymath.h |
---|
0,0 → 1,8 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
extern signed int atan2_i(signed int x, signed int y); |
extern signed int cos_i(signed int winkel); |
extern signed int sin_i(signed int winkel); |
//extern int8_t asin_i(signed int i); |
/branches/Nick666/V0.67g MicroMag3/old_macros.h |
---|
0,0 → 1,47 |
/* |
For backwards compatibility only. |
Ingo Busker ingo@mikrocontroller.com |
*/ |
#ifndef cbi |
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
#endif |
#ifndef sbi |
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
#endif |
#ifndef inb |
#define inb(sfr) _SFR_BYTE(sfr) |
#endif |
#ifndef outb |
#define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
#endif |
#ifndef inw |
#define inw(sfr) _SFR_WORD(sfr) |
#endif |
#ifndef outw |
#define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
#endif |
#ifndef outp |
#define outp(val, sfr) outb(sfr, val) |
#endif |
#ifndef inp |
#define inp(sfr) inb(sfr) |
#endif |
#ifndef BV |
#define BV(bit) _BV(bit) |
#endif |
#ifndef PRG_RDB |
#define PRG_RDB pgm_read_byte |
#endif |
/branches/Nick666/V0.67g MicroMag3/printf_P.c |
---|
0,0 → 1,480 |
// Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
/* |
Copyright (C) 1993 Free Software Foundation |
This file is part of the GNU IO Library. This library is free |
software; you can redistribute it and/or modify it under the |
terms of the GNU General Public License as published by the |
Free Software Foundation; either version 2, or (at your option) |
any later version. |
This library is distributed in the hope that it will be useful, |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
GNU General Public License for more details. |
You should have received a copy of the GNU General Public License |
along with this library; see the file COPYING. If not, write to the Free |
Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
As a special exception, if you link this library with files |
compiled with a GNU compiler to produce an executable, this does not cause |
the resulting executable to be covered by the GNU General Public License. |
This exception does not however invalidate any other reasons why |
the executable file might be covered by the GNU General Public License. */ |
/* |
* Copyright (c) 1990 Regents of the University of California. |
* All rights reserved. |
* |
* Redistribution and use in source and binary forms, with or without |
* modification, are permitted provided that the following conditions |
* are met: |
* 1. Redistributions of source code must retain the above copyright |
* notice, this list of conditions and the following disclaimer. |
* 2. Redistributions in binary form must reproduce the above copyright |
* notice, this list of conditions and the following disclaimer in the |
* documentation and/or other materials provided with the distribution. |
* 3. [rescinded 22 July 1999] |
* 4. Neither the name of the University nor the names of its contributors |
* may be used to endorse or promote products derived from this software |
* without specific prior written permission. |
* |
* THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
* ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
* SUCH DAMAGE. |
*/ |
/****************************************************************************** |
This file is a patched version of printf called _printf_P |
It is made to work with avr-gcc for Atmel AVR MCUs. |
There are some differences from standard printf: |
1. There is no floating point support (with fp the code is about 8K!) |
2. Return type is void |
3. Format string must be in program memory (by using macro printf this is |
done automaticaly) |
4. %n is not implemented (just remove the comment around it if you need it) |
5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
folowing specifiers are disabled : |
space # * . - + p s o O |
6. A function void uart_sendchar(char c) is used for output. The UART must |
be initialized before using printf. |
Alexander Popov |
sasho@vip.orbitel.bg |
******************************************************************************/ |
/* |
* Actual printf innards. |
* |
* This code is large and complicated... |
*/ |
#include <string.h> |
#ifdef __STDC__ |
#include <stdarg.h> |
#else |
#include <varargs.h> |
#endif |
#include "main.h" |
//#define LIGHTPRINTF |
char PrintZiel; |
char Putchar(char zeichen) |
{ |
if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
else return(uart_putchar(zeichen)); |
} |
void PRINT(const char * ptr, unsigned int len) |
{ |
for(;len;len--) Putchar(*ptr++); |
} |
void PRINTP(const char * ptr, unsigned int len) |
{ |
for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
} |
void PAD_SP(signed char howmany) |
{ |
for(;howmany>0;howmany--) Putchar(' '); |
} |
void PAD_0(signed char howmany) |
{ |
for(;howmany>0;howmany--) Putchar('0'); |
} |
#define BUF 40 |
/* |
* Macros for converting digits to letters and vice versa |
*/ |
#define to_digit(c) ((c) - '0') |
#define is_digit(c) ((c)<='9' && (c)>='0') |
#define to_char(n) ((n) + '0') |
/* |
* Flags used during conversion. |
*/ |
#define LONGINT 0x01 /* long integer */ |
#define LONGDBL 0x02 /* long double; unimplemented */ |
#define SHORTINT 0x04 /* short integer */ |
#define ALT 0x08 /* alternate form */ |
#define LADJUST 0x10 /* left adjustment */ |
#define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
#define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
{ |
va_list ap; |
register const char *fmt; /* format string */ |
register char ch; /* character from fmt */ |
register int n; /* handy integer (short term usage) */ |
register char *cp; /* handy char pointer (short term usage) */ |
const char *fmark; /* for remembering a place in fmt */ |
register unsigned char flags; /* flags as above */ |
signed char width; /* width from format (%8d), or 0 */ |
signed char prec; /* precision from format (%.3d), or -1 */ |
char sign; /* sign prefix (' ', '+', '-', or \0) */ |
unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
#define OCT 8 |
#define DEC 10 |
#define HEX 16 |
unsigned char base; /* base for [diouxX] conversion */ |
signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
signed char dpad; /* extra 0 padding needed for integers */ |
signed char fieldsz; /* field size expanded by sign, dpad etc */ |
/* The initialization of 'size' is to suppress a warning that |
'size' might be used unitialized. It seems gcc can't |
quite grok this spaghetti code ... */ |
signed char size = 0; /* size of converted field or string */ |
char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
char ox[2]; /* space for 0x hex-prefix */ |
PrintZiel = ziel; // bestimmt, LCD oder UART |
va_start(ap, fmt0); |
fmt = fmt0; |
/* |
* Scan the format for conversions (`%' character). |
*/ |
for (;;) { |
for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
/* void */; |
if ((n = fmt - fmark) != 0) { |
PRINTP(fmark, n); |
} |
if (ch == '\0') |
goto done; |
fmt++; /* skip over '%' */ |
flags = 0; |
dprec = 0; |
width = 0; |
prec = -1; |
sign = '\0'; |
rflag: ch = PRG_RDB(fmt++); |
reswitch: |
#ifdef LIGHTPRINTF |
if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
#else |
if (ch=='u' || (ch|0x20)=='x') { |
#endif |
if (flags&LONGINT) { |
_ulong=va_arg(ap, unsigned long); |
} else { |
register unsigned int _d; |
_d=va_arg(ap, unsigned int); |
_ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
} |
} |
#ifndef LIGHTPRINTF |
if(ch==' ') { |
/* |
* ``If the space and + flags both appear, the space |
* flag will be ignored.'' |
* -- ANSI X3J11 |
*/ |
if (!sign) |
sign = ' '; |
goto rflag; |
} else if (ch=='#') { |
flags |= ALT; |
goto rflag; |
} else if (ch=='*'||ch=='-') { |
if (ch=='*') { |
/* |
* ``A negative field width argument is taken as a |
* - flag followed by a positive field width.'' |
* -- ANSI X3J11 |
* They don't exclude field widths read from args. |
*/ |
if ((width = va_arg(ap, int)) >= 0) |
goto rflag; |
width = -width; |
} |
flags |= LADJUST; |
flags &= ~ZEROPAD; /* '-' disables '0' */ |
goto rflag; |
} else if (ch=='+') { |
sign = '+'; |
goto rflag; |
} else if (ch=='.') { |
if ((ch = PRG_RDB(fmt++)) == '*') { |
n = va_arg(ap, int); |
prec = n < 0 ? -1 : n; |
goto rflag; |
} |
n = 0; |
while (is_digit(ch)) { |
n = n*10 + to_digit(ch); |
ch = PRG_RDB(fmt++); |
} |
prec = n < 0 ? -1 : n; |
goto reswitch; |
} else |
#endif /* LIGHTPRINTF */ |
if (ch=='0') { |
/* |
* ``Note that 0 is taken as a flag, not as the |
* beginning of a field width.'' |
* -- ANSI X3J11 |
*/ |
if (!(flags & LADJUST)) |
flags |= ZEROPAD; /* '-' disables '0' */ |
goto rflag; |
} else if (ch>='1' && ch<='9') { |
n = 0; |
do { |
n = 10 * n + to_digit(ch); |
ch = PRG_RDB(fmt++); |
} while (is_digit(ch)); |
width = n; |
goto reswitch; |
} else if (ch=='h') { |
flags |= SHORTINT; |
goto rflag; |
} else if (ch=='l') { |
flags |= LONGINT; |
goto rflag; |
} else if (ch=='c') { |
*(cp = buf) = va_arg(ap, int); |
size = 1; |
sign = '\0'; |
} else if (ch=='D'||ch=='d'||ch=='i') { |
if(ch=='D') |
flags |= LONGINT; |
if (flags&LONGINT) { |
_ulong=va_arg(ap, long); |
} else { |
register int _d; |
_d=va_arg(ap, int); |
_ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
} |
if ((long)_ulong < 0) { |
_ulong = -_ulong; |
sign = '-'; |
} |
base = DEC; |
goto number; |
} else |
/* |
if (ch=='n') { |
if (flags & LONGINT) |
*va_arg(ap, long *) = ret; |
else if (flags & SHORTINT) |
*va_arg(ap, short *) = ret; |
else |
*va_arg(ap, int *) = ret; |
continue; // no output |
} else |
*/ |
#ifndef LIGHTPRINTF |
if (ch=='O'||ch=='o') { |
if (ch=='O') |
flags |= LONGINT; |
base = OCT; |
goto nosign; |
} else if (ch=='p') { |
/* |
* ``The argument shall be a pointer to void. The |
* value of the pointer is converted to a sequence |
* of printable characters, in an implementation- |
* defined manner.'' |
* -- ANSI X3J11 |
*/ |
/* NOSTRICT */ |
_ulong = (unsigned int)va_arg(ap, void *); |
base = HEX; |
flags |= HEXPREFIX; |
ch = 'x'; |
goto nosign; |
} else if (ch=='s') { // print a string from RAM |
if ((cp = va_arg(ap, char *)) == NULL) { |
cp=buf; |
cp[0] = '('; |
cp[1] = 'n'; |
cp[2] = 'u'; |
cp[4] = cp[3] = 'l'; |
cp[5] = ')'; |
cp[6] = '\0'; |
} |
if (prec >= 0) { |
/* |
* can't use strlen; can only look for the |
* NUL in the first `prec' characters, and |
* strlen() will go further. |
*/ |
char *p = (char*)memchr(cp, 0, prec); |
if (p != NULL) { |
size = p - cp; |
if (size > prec) |
size = prec; |
} else |
size = prec; |
} else |
size = strlen(cp); |
sign = '\0'; |
} else |
#endif /* LIGHTPRINTF */ |
if(ch=='U'||ch=='u') { |
if (ch=='U') |
flags |= LONGINT; |
base = DEC; |
goto nosign; |
} else if (ch=='X'||ch=='x') { |
base = HEX; |
/* leading 0x/X only if non-zero */ |
if (flags & ALT && _ulong != 0) |
flags |= HEXPREFIX; |
/* unsigned conversions */ |
nosign: sign = '\0'; |
/* |
* ``... diouXx conversions ... if a precision is |
* specified, the 0 flag will be ignored.'' |
* -- ANSI X3J11 |
*/ |
number: if ((dprec = prec) >= 0) |
flags &= ~ZEROPAD; |
/* |
* ``The result of converting a zero value with an |
* explicit precision of zero is no characters.'' |
* -- ANSI X3J11 |
*/ |
cp = buf + BUF; |
if (_ulong != 0 || prec != 0) { |
register unsigned char _d,notlastdigit; |
do { |
notlastdigit=(_ulong>=base); |
_d = _ulong % base; |
if (_d<10) { |
_d+='0'; |
} else { |
_d+='a'-10; |
if (ch=='X') _d&=~0x20; |
} |
*--cp=_d; |
_ulong /= base; |
} while (notlastdigit); |
#ifndef LIGHTPRINTF |
// handle octal leading 0 |
if (base==OCT && flags & ALT && *cp != '0') |
*--cp = '0'; |
#endif |
} |
size = buf + BUF - cp; |
} else { //default |
/* "%?" prints ?, unless ? is NUL */ |
if (ch == '\0') |
goto done; |
/* pretend it was %c with argument ch */ |
cp = buf; |
*cp = ch; |
size = 1; |
sign = '\0'; |
} |
/* |
* All reasonable formats wind up here. At this point, |
* `cp' points to a string which (if not flags&LADJUST) |
* should be padded out to `width' places. If |
* flags&ZEROPAD, it should first be prefixed by any |
* sign or other prefix; otherwise, it should be blank |
* padded before the prefix is emitted. After any |
* left-hand padding and prefixing, emit zeroes |
* required by a decimal [diouxX] precision, then print |
* the string proper, then emit zeroes required by any |
* leftover floating precision; finally, if LADJUST, |
* pad with blanks. |
*/ |
/* |
* compute actual size, so we know how much to pad. |
*/ |
fieldsz = size; |
dpad = dprec - size; |
if (dpad < 0) |
dpad = 0; |
if (sign) |
fieldsz++; |
else if (flags & HEXPREFIX) |
fieldsz += 2; |
fieldsz += dpad; |
/* right-adjusting blank padding */ |
if ((flags & (LADJUST|ZEROPAD)) == 0) |
PAD_SP(width - fieldsz); |
/* prefix */ |
if (sign) { |
PRINT(&sign, 1); |
} else if (flags & HEXPREFIX) { |
ox[0] = '0'; |
ox[1] = ch; |
PRINT(ox, 2); |
} |
/* right-adjusting zero padding */ |
if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
PAD_0(width - fieldsz); |
/* leading zeroes from decimal precision */ |
PAD_0(dpad); |
/* the string or number proper */ |
PRINT(cp, size); |
/* left-adjusting padding (always blank) */ |
if (flags & LADJUST) |
PAD_SP(width - fieldsz); |
} |
done: |
va_end(ap); |
} |
/branches/Nick666/V0.67g MicroMag3/printf_P.h |
---|
0,0 → 1,19 |
#ifndef _PRINTF_P_H_ |
#define _PRINTF_P_H_ |
#include <avr/pgmspace.h> |
#define OUT_V24 0 |
#define OUT_LCD 1 |
void _printf_P (char, char const *fmt0, ...); |
extern char PrintZiel; |
#define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
#define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
#define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
#define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
#endif |
/branches/Nick666/V0.67g MicroMag3/rc.c |
---|
0,0 → 1,84 |
/*####################################################################################### |
Decodieren eines RC Summen Signals |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "rc.h" |
#include "main.h" |
volatile int PPM_in[11]; |
volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
volatile unsigned char NewPpmData = 1; |
//############################################################################ |
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
//Capture Funktion benutzt: |
void rc_sum_init (void) |
//############################################################################ |
{ |
TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
// PWM |
//TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
//TCCR1B |= (1 << WGM12); |
//OCR1B = 55; |
TIMSK1 |= _BV(ICIE1); |
AdNeutralGier = 0; |
AdNeutralRoll = 0; |
AdNeutralNick = 0; |
return; |
} |
//############################################################################ |
//Diese Routine startet und inizialisiert den Timer für RC |
SIGNAL(SIG_INPUT_CAPTURE1) |
//############################################################################ |
{ |
static unsigned int AltICR=0; |
signed int signal = 0,tmp; |
static int index; |
signal = (unsigned int) ICR1 - AltICR; |
AltICR = ICR1; |
//Syncronisationspause? |
// if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
if((signal > 1100) && (signal < 8000)) |
{ |
if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
index = 1; |
} |
else |
{ |
if(index < 10) |
{ |
if((signal > 250) && (signal < 687)) |
{ |
signal -= 466; |
// Stabiles Signal |
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
// if(tmp > signal+1) tmp--; else |
// if(tmp < signal-1) tmp++; |
PPM_diff[index] = tmp - PPM_in[index]; |
PPM_in[index] = tmp; |
} |
index++; |
if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
//if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
} |
} |
} |
/branches/Nick666/V0.67g MicroMag3/rc.h |
---|
0,0 → 1,29 |
/*####################################################################################### |
Derkodieren eines RC Summen Signals |
#######################################################################################*/ |
#ifndef _RC_H |
#define _RC_H |
#if defined (__AVR_ATmega32__) |
#define TIMER_TEILER CK64 |
#define TIMER_RELOAD_VALUE 250 |
#endif |
#if defined (__AVR_ATmega644__) |
//#define TIMER_TEILER CK64 |
#define TIMER_RELOAD_VALUE 250 |
//#define TIMER_TEILER CK256 // bei 20MHz |
//#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
#endif |
#define GAS PPM_in[2] |
extern void rc_sum_init (void); |
extern volatile int PPM_in[11]; |
extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
extern volatile unsigned char NewPpmData; |
#endif //_RC_H |
/branches/Nick666/V0.67g MicroMag3/timer0.c |
---|
0,0 → 1,145 |
#include "main.h" |
volatile unsigned int CountMilliseconds = 0; |
volatile unsigned char UpdateMotor = 0; |
volatile unsigned int beeptime = 0; |
unsigned int BeepMuster = 0xffff; |
int ServoValue = 0; |
enum { |
STOP = 0, |
CK = 1, |
CK8 = 2, |
CK64 = 3, |
CK256 = 4, |
CK1024 = 5, |
T0_FALLING_EDGE = 6, |
T0_RISING_EDGE = 7 |
}; |
SIGNAL (SIG_OVERFLOW0) // 9,8kHz |
{ |
static unsigned char cnt_1ms = 1,cnt = 0; |
unsigned char pieper_ein = 0; |
// TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
if(!cnt--) |
{ |
cnt = 10; |
cnt_1ms++; |
cnt_1ms %= 2; |
if(!cnt_1ms) UpdateMotor = 1; |
CountMilliseconds++; |
} |
if(beeptime > 1) |
{ |
beeptime--; |
if(beeptime & BeepMuster) |
{ |
pieper_ein = 1; |
} |
else pieper_ein = 0; |
} |
else |
{ |
pieper_ein = 0; |
BeepMuster = 0xffff; |
} |
if(pieper_ein) |
{ |
if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
else PORTC |= (1<<7); // Speaker an PORTC.7 |
} |
else |
{ |
if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
else PORTC &= ~(1<<7); |
} |
if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3(); // Kompass auslesen |
} |
void Timer_Init(void) |
{ |
TCCR0B = CK8; |
TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
OCR0A = 0; |
OCR0B = 120; |
TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
//OCR1 = 0x00; |
TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
// TIMSK2 |= _BV(TOIE2); |
TIMSK2 |= _BV(OCIE2A); |
TIMSK0 |= _BV(TOIE0); |
OCR2A = 10; |
TCNT2 = 0; |
} |
// ----------------------------------------------------------------------- |
unsigned int SetDelay (unsigned int t) |
{ |
// TIMSK0 &= ~_BV(TOIE0); |
return(CountMilliseconds + t + 1); |
// TIMSK0 |= _BV(TOIE0); |
} |
// ----------------------------------------------------------------------- |
char CheckDelay(unsigned int t) |
{ |
// TIMSK0 &= ~_BV(TOIE0); |
return(((t - CountMilliseconds) & 0x8000) >> 9); |
// TIMSK0 |= _BV(TOIE0); |
} |
// ----------------------------------------------------------------------- |
void Delay_ms(unsigned int w) |
{ |
unsigned int akt; |
akt = SetDelay(w); |
while (!CheckDelay(akt)); |
} |
void Delay_ms_Mess(unsigned int w) |
{ |
unsigned int akt; |
akt = SetDelay(w); |
while (!CheckDelay(akt)) ANALOG_ON; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Servo ansteuern |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
SIGNAL(SIG_OUTPUT_COMPARE2A) |
{ |
static unsigned char timer = 10; |
if(!timer--) |
{ |
TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
ServoValue = Parameter_ServoNickControl; |
if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
OCR2A = ServoValue;// + 75; |
timer = EE_Parameter.ServoNickRefresh; |
} |
else |
{ |
TCCR2A =3; |
PORTD&=~0x80; |
} |
} |
/branches/Nick666/V0.67g MicroMag3/timer0.h |
---|
0,0 → 1,15 |
#define TIMER_TEILER CK8 |
#define TIMER_RELOAD_VALUE 250 |
void Timer_Init(void); |
void Delay_ms(unsigned int); |
void Delay_ms_Mess(unsigned int); |
unsigned int SetDelay (unsigned int t); |
char CheckDelay (unsigned int t); |
extern volatile unsigned int CountMilliseconds; |
extern volatile unsigned char UpdateMotor; |
extern volatile unsigned int beeptime; |
extern int ServoValue; |
extern unsigned int BeepMuster; |
/branches/Nick666/V0.67g MicroMag3/twimaster.c |
---|
0,0 → 1,152 |
/*############################################################################ |
############################################################################*/ |
#include "main.h" |
unsigned char twi_state = 0; |
unsigned char motor = 0; |
unsigned char motorread = 0; |
unsigned char motor_rx[8]; |
//############################################################################ |
//Initzialisieren der I2C (TWI) Schnittstelle |
void i2c_init(void) |
//############################################################################ |
{ |
TWSR = 0; |
TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
} |
//############################################################################ |
//Start I2C |
char i2c_start(void) |
//############################################################################ |
{ |
TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
return(0); |
} |
//############################################################################ |
//Start I2C |
void i2c_stop(void) |
//############################################################################ |
{ |
TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
} |
void i2c_reset(void) |
//############################################################################ |
{ |
i2c_stop(); |
twi_state = 0; |
motor = TWDR; |
motor = 0; |
TWCR = 0x80; |
TWAMR = 0; |
TWAR = 0; |
TWDR = 0; |
TWSR = 0; |
TWBR = 0; |
i2c_init(); |
i2c_start(); |
i2c_write_byte(0); |
} |
//############################################################################ |
//Start I2C |
char i2c_write_byte(char byte) |
//############################################################################ |
{ |
TWSR = 0x00; |
TWDR = byte; |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
return(0); |
} |
//############################################################################ |
//Start I2C |
SIGNAL (TWI_vect) |
//############################################################################ |
{ |
switch (twi_state++) |
{ |
case 0: |
i2c_write_byte(0x52+(motor*2)); |
break; |
case 1: |
switch(motor++) |
{ |
case 0: |
i2c_write_byte(Motor_Vorne); |
break; |
case 1: |
i2c_write_byte(Motor_Hinten); |
break; |
case 2: |
i2c_write_byte(Motor_Rechts); |
break; |
case 3: |
i2c_write_byte(Motor_Links); |
break; |
} |
break; |
case 2: |
i2c_stop(); |
if (motor<4) twi_state = 0; |
else motor = 0; |
i2c_start(); |
break; |
//Liest Daten von Motor |
case 3: |
i2c_write_byte(0x53+(motorread*2)); |
break; |
case 4: |
switch(motorread) |
{ |
case 0: |
i2c_write_byte(Motor_Vorne); |
break; |
case 1: |
i2c_write_byte(Motor_Hinten); |
break; |
case 2: |
i2c_write_byte(Motor_Rechts); |
break; |
case 3: |
i2c_write_byte(Motor_Links); |
break; |
} |
break; |
case 5: //1 Byte vom Motor lesen |
motor_rx[motorread] = TWDR; |
case 6: |
switch(motorread) |
{ |
case 0: |
i2c_write_byte(Motor_Vorne); |
break; |
case 1: |
i2c_write_byte(Motor_Hinten); |
break; |
case 2: |
i2c_write_byte(Motor_Rechts); |
break; |
case 3: |
i2c_write_byte(Motor_Links); |
break; |
} |
break; |
case 7: //2 Byte vom Motor lesen |
motor_rx[motorread+4] = TWDR; |
motorread++; |
if (motorread>3) motorread=0; |
i2c_stop(); |
I2CTimeout = 10; |
twi_state = 0; |
} |
TWCR |= 0x80; |
} |
/branches/Nick666/V0.67g MicroMag3/twimaster.h |
---|
0,0 → 1,33 |
/*############################################################################ |
############################################################################*/ |
#ifndef _I2C_MASTER_H |
#define _I2C_MASTER_H |
//############################################################################ |
// I2C Konstanten |
#define SCL_CLOCK 200000L |
#define I2C_TIMEOUT 30000 |
#define I2C_START 0x08 |
#define I2C_REPEATED_START 0x10 |
#define I2C_TX_SLA_ACK 0x18 |
#define I2C_TX_DATA_ACK 0x28 |
#define I2C_RX_SLA_ACK 0x40 |
#define I2C_RX_DATA_ACK 0x50 |
//############################################################################ |
extern unsigned char twi_state; |
extern unsigned char motor; |
extern unsigned char motorread; |
extern unsigned char motor_rx[8]; |
void i2c_reset(void); |
extern void i2c_init (void); // I2C initialisieren |
extern char i2c_start (void); // Start I2C |
extern void i2c_stop (void); // Stop I2C |
extern char i2c_write_byte (char byte); // 1 Byte schreiben |
extern void i2c_reset(void); |
#endif |
/branches/Nick666/V0.67g MicroMag3/uart.c |
---|
0,0 → 1,388 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
#include "uart.h" |
unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
unsigned volatile char SioTmp = 0; |
unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
unsigned volatile char NeuerDatensatzEmpfangen = 0; |
unsigned volatile char NeueKoordinateEmpfangen = 0; |
unsigned volatile char UebertragungAbgeschlossen = 1; |
unsigned volatile char CntCrcError = 0; |
unsigned volatile char AnzahlEmpfangsBytes = 0; |
unsigned volatile char PC_DebugTimeout = 0; |
unsigned char RemotePollDisplayLine = 0; |
unsigned char NurKanalAnforderung = 0; |
unsigned char DebugTextAnforderung = 255; |
unsigned char PcZugriff = 100; |
unsigned char MotorTest[4] = {0,0,0,0}; |
unsigned char DubWiseKeys[3] = {0,0,0}; |
unsigned char MeineSlaveAdresse; |
struct str_DebugOut DebugOut; |
struct str_Debug DebugIn; |
struct str_VersionInfo VersionInfo; |
int Debug_Timer; |
const unsigned char ANALOG_TEXT[32][16] = |
{ |
//1234567890123456 |
"IntegralNick ", //0 |
"IntegralRoll ", |
"AccNick ", |
"AccRoll ", |
"GyroGier ", |
"HoehenWert ", //5 |
"AccZ ", |
"Gas ", |
"KompassValue ", |
"Spannung ", |
"Empfang ", //10 |
"Analog11 ", |
"Motor_Vorne ", |
"Motor_Hinten ", |
"Motor_Links ", |
"Motor_Rechts ", //15 |
"Acc_Z ", |
"MittelAccNick ", |
"MittelAccRoll ", |
"IntegralErrNick ", |
"IntegralErrRoll ", //20 |
"MittelIntNick ", |
"MittelIntRoll ", |
"NeutralNick ", |
"RollOffset ", |
"IntRoll*Faktor ", //25 |
"Analog26 ", |
"DirektAusglRoll ", |
"MesswertRoll ", |
"AusgleichRoll ", |
"I-LageRoll ", //30 |
"StickRoll " |
}; |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//++ Sende-Part der Datenübertragung |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
SIGNAL(INT_VEC_TX) |
{ |
static unsigned int ptr = 0; |
unsigned char tmp_tx; |
if(!UebertragungAbgeschlossen) |
{ |
ptr++; // die [0] wurde schon gesendet |
tmp_tx = SendeBuffer[ptr]; |
if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
{ |
ptr = 0; |
UebertragungAbgeschlossen = 1; |
} |
UDR = tmp_tx; |
} |
else ptr = 0; |
} |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
SIGNAL(INT_VEC_RX) |
{ |
static unsigned int crc; |
static unsigned char crc1,crc2,buf_ptr; |
static unsigned char UartState = 0; |
unsigned char CrcOkay = 0; |
SioTmp = UDR; |
if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
if(SioTmp == '\r' && UartState == 2) |
{ |
UartState = 0; |
crc -= RxdBuffer[buf_ptr-2]; |
crc -= RxdBuffer[buf_ptr-1]; |
crc %= 4096; |
crc1 = '=' + crc / 64; |
crc2 = '=' + crc % 64; |
CrcOkay = 0; |
if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
{ |
NeuerDatensatzEmpfangen = 1; |
AnzahlEmpfangsBytes = buf_ptr; |
RxdBuffer[buf_ptr] = '\r'; |
if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
} |
} |
else |
switch(UartState) |
{ |
case 0: |
if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
buf_ptr = 0; |
RxdBuffer[buf_ptr++] = SioTmp; |
crc = SioTmp; |
break; |
case 1: // Adresse auswerten |
UartState++; |
RxdBuffer[buf_ptr++] = SioTmp; |
crc += SioTmp; |
break; |
case 2: // Eingangsdaten sammeln |
RxdBuffer[buf_ptr] = SioTmp; |
if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
else UartState = 0; |
crc += SioTmp; |
break; |
default: |
UartState = 0; |
break; |
} |
} |
// -------------------------------------------------------------------------- |
void AddCRC(unsigned int wieviele) |
{ |
unsigned int tmpCRC = 0,i; |
for(i = 0; i < wieviele;i++) |
{ |
tmpCRC += SendeBuffer[i]; |
} |
tmpCRC %= 4096; |
SendeBuffer[i++] = '=' + tmpCRC / 64; |
SendeBuffer[i++] = '=' + tmpCRC % 64; |
SendeBuffer[i++] = '\r'; |
UebertragungAbgeschlossen = 0; |
UDR = SendeBuffer[0]; |
} |
// -------------------------------------------------------------------------- |
void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
{ |
unsigned int pt = 0; |
unsigned char a,b,c; |
unsigned char ptr = 0; |
SendeBuffer[pt++] = '#'; // Startzeichen |
SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
SendeBuffer[pt++] = cmd; // Commando |
while(len) |
{ |
if(len) { a = snd[ptr++]; len--;} else a = 0; |
if(len) { b = snd[ptr++]; len--;} else b = 0; |
if(len) { c = snd[ptr++]; len--;} else c = 0; |
SendeBuffer[pt++] = '=' + (a >> 2); |
SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
SendeBuffer[pt++] = '=' + ( c & 0x3f); |
} |
AddCRC(pt); |
} |
// -------------------------------------------------------------------------- |
void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
{ |
unsigned char a,b,c,d; |
unsigned char ptr = 0; |
unsigned char x,y,z; |
while(len) |
{ |
a = RxdBuffer[ptrIn++] - '='; |
b = RxdBuffer[ptrIn++] - '='; |
c = RxdBuffer[ptrIn++] - '='; |
d = RxdBuffer[ptrIn++] - '='; |
if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
if(len--) ptrOut[ptr++] = x; else break; |
if(len--) ptrOut[ptr++] = y; else break; |
if(len--) ptrOut[ptr++] = z; else break; |
} |
} |
// -------------------------------------------------------------------------- |
void BearbeiteRxDaten(void) |
{ |
if(!NeuerDatensatzEmpfangen) return; |
// unsigned int tmp_int_arr1[1]; |
// unsigned int tmp_int_arr2[2]; |
// unsigned int tmp_int_arr3[3]; |
unsigned char tmp_char_arr2[2]; |
// unsigned char tmp_char_arr3[3]; |
// unsigned char tmp_char_arr4[4]; |
//if(!MotorenEin) |
PcZugriff = 255; |
switch(RxdBuffer[2]) |
{ |
case 'a':// Texte der Analogwerte |
Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
DebugTextAnforderung = tmp_char_arr2[0]; |
break; |
case 'c':// Debugdaten incl. Externe IOs usw |
Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
/* for(unsigned char i=0; i<4;i++) |
{ |
EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
}*/ |
RemoteTasten |= DebugIn.RemoteTasten; |
DebugDataAnforderung = 1; |
break; |
case 'h':// x-1 Displayzeilen |
Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
RemoteTasten |= tmp_char_arr2[0]; |
if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
DebugDisplayAnforderung = 1; |
break; |
case 't':// Motortest |
Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
break; |
case 'k':// Keys von DubWise |
Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
break; |
case 'v': // Version-Anforderung und Ausbaustufe |
GetVersionAnforderung = 1; |
break; |
case 'g':// "Get"-Anforderung für Debug-Daten |
// Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
DebugGetAnforderung = 1; |
break; |
case 'q':// "Get"-Anforderung für Settings |
// Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
if(tmp_char_arr2[0] != 0xff) |
{ |
if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct)); |
} |
else |
SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct)); |
break; |
case 'l': |
case 'm': |
case 'n': |
case 'o': |
case 'p': // Parametersatz speichern |
Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],sizeof(struct mk_param_struct),3,AnzahlEmpfangsBytes); |
WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], sizeof(struct mk_param_struct)); |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
Piep(GetActiveParamSetNumber()); |
break; |
} |
// DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
NeuerDatensatzEmpfangen = 0; |
} |
//############################################################################ |
//Routine für die Serielle Ausgabe |
int uart_putchar (char c) |
//############################################################################ |
{ |
if (c == '\n') |
uart_putchar('\r'); |
//Warten solange bis Zeichen gesendet wurde |
loop_until_bit_is_set(USR, UDRE); |
//Ausgabe des Zeichens |
UDR = c; |
return (0); |
} |
// -------------------------------------------------------------------------- |
void WriteProgramData(unsigned int pos, unsigned char wert) |
{ |
//if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
// else eeprom_write_byte(&EE_Buffer[pos], wert); |
// Buffer[pos] = wert; |
} |
//############################################################################ |
//INstallation der Seriellen Schnittstelle |
void UART_Init (void) |
//############################################################################ |
{ |
//Enable TXEN im Register UCR TX-Data Enable & RX Enable |
UCR=(1 << TXEN) | (1 << RXEN); |
// UART Double Speed (U2X) |
USR |= (1<<U2X); |
// RX-Interrupt Freigabe |
UCSRB |= (1<<RXCIE); |
// TX-Interrupt Freigabe |
UCSRB |= (1<<TXCIE); |
//Teiler wird gesetzt |
UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
//UBRR = 33; |
//öffnet einen Kanal für printf (STDOUT) |
//fdevopen (uart_putchar, 0); |
//sbi(PORTD,4); |
Debug_Timer = SetDelay(200); |
} |
//--------------------------------------------------------------------------------------------- |
void DatenUebertragung(void) |
{ |
if(!UebertragungAbgeschlossen) return; |
if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
{ |
SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
DebugGetAnforderung = 0; |
} |
if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
{ |
SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
DebugDataAnforderung = 0; |
Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
} |
if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
{ |
SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
DebugTextAnforderung = 255; |
} |
if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
{ |
Menu(); |
DebugDisplayAnforderung = 0; |
if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
{ |
SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
RemotePollDisplayLine = -1; |
} |
else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
} |
if(GetVersionAnforderung && UebertragungAbgeschlossen) |
{ |
SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
GetVersionAnforderung = 0; |
} |
} |
/branches/Nick666/V0.67g MicroMag3/uart.h |
---|
0,0 → 1,100 |
#ifndef _UART_H |
#define _UART_H |
#define MAX_SENDE_BUFF 150 |
#define MAX_EMPFANGS_BUFF 150 |
#define DUB_KEY_UP 4 |
#define DUB_KEY_DOWN 8 |
#define DUB_KEY_RIGHT 32 |
#define DUB_KEY_LEFT 16 |
#define DUB_KEY_FIRE 64 |
void BearbeiteRxDaten(void); |
extern unsigned char DebugGetAnforderung; |
extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
extern unsigned volatile char UebertragungAbgeschlossen; |
extern unsigned volatile char PC_DebugTimeout; |
extern unsigned volatile char NeueKoordinateEmpfangen; |
extern unsigned char MeineSlaveAdresse; |
extern unsigned char PcZugriff; |
extern unsigned char RemotePollDisplayLine; |
extern int Debug_Timer; |
extern void UART_Init (void); |
extern int uart_putchar (char c); |
extern void boot_program_page (uint32_t page, uint8_t *buf); |
extern void DatenUebertragung(void); |
extern void DecodeNMEA(void); |
extern void BearbeiteRxDaten(void); |
extern unsigned char MotorTest[4]; |
extern unsigned char DubWiseKeys[3]; |
struct str_DebugOut |
{ |
unsigned char Digital[2]; |
unsigned int Analog[32]; // Debugwerte |
}; |
extern struct str_DebugOut DebugOut; |
struct str_Debug |
{ |
unsigned char Digital[2]; |
unsigned char RemoteTasten; |
unsigned int Analog[4]; |
}; |
extern struct str_Debug DebugIn; |
struct str_VersionInfo |
{ |
unsigned char Hauptversion; |
unsigned char Nebenversion; |
unsigned char PCKompatibel; |
unsigned char Rserved[7]; |
}; |
extern struct str_VersionInfo VersionInfo; |
//Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
//#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
//#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
//#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
//#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
#define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
//Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
#if defined (__AVR_ATmega128__) |
# define USR UCSR0A |
# define UCR UCSR0B |
# define UDR UDR0 |
# define UBRR UBRR0L |
# define EICR EICRB |
#endif |
#if defined (__AVR_ATmega32__) |
# define USR UCSRA |
# define UCR UCSRB |
# define UBRR UBRRL |
# define EICR EICRB |
# define INT_VEC_RX SIG_UART_RECV |
# define INT_VEC_TX SIG_UART_TRANS |
#endif |
#if defined (__AVR_ATmega644__) |
# define USR UCSR0A |
# define UCR UCSR0B |
# define UDR UDR0 |
# define UBRR UBRR0L |
# define EICR EICR0B |
# define TXEN TXEN0 |
# define RXEN RXEN0 |
# define RXCIE RXCIE0 |
# define TXCIE TXCIE0 |
# define U2X U2X0 |
# define UCSRB UCSR0B |
# define UDRE UDRE0 |
# define INT_VEC_RX SIG_USART_RECV |
# define INT_VEC_TX SIG_USART_TRANS |
#endif |
#endif //_UART_H |
/branches/Nick666/V0.67g MicroMag3/version.txt |
---|
0,0 → 1,107 |
------- |
V0.53 27.04.2007 H.Buss |
- erste öffentliche Version |
V0.53b 29.04.2007 H.Buss |
- der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
V0.53c 29.04.2007 H.Buss |
- es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
Die angezeigten Werte waren nicht die Werte der Funke |
V0.54 01.05.2007 H.Buss |
- die Paramtersätze können jetzt vor dem Start ausgewählt werden |
Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
2 3 4 |
1 x 5 |
- - - |
Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
- der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
V0.55 14.05.2007 H.Buss |
- es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
V0.56 14.05.2007 H.Buss |
- es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
- Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
V0.57 24.05.2007 H.Buss |
- Der Höhenregler kann nun auch mittels Schalter bedient werden |
- Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
- Kompass-Einfluss dämpfen bei Neigung |
- Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
- Der Motortest vom Kopter-Tool geht jetzt |
- Man kann den Parametersätzen einen Namen geben |
- Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
V0.58 30.05.2007 H.Buss |
- Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
V0.60 17.08.2007 H.Buss |
- "Schwindel-Bug" behoben |
- Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
- Poti4 zugefügt |
- Es werden jetzt 8 Kanäle ausgewertet |
- Kamera-Servo (an J7) |
- Die Settings müssen überschrieben werden |
V0.61 - V0.63 H.Buss 27.09.2007 |
- Poti 4 und Kanal 8 werden im Menü angezeigt |
- ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
- Analog.c: Aktuell_ax korrigiert |
- auf 32 Debug-Kanäle erweitert |
- Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar |
- leichte Anpassungen im Gier - Geschwindigkeit und Drift |
- die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein |
- die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird |
- die PPM-Ausgänge liegen wieder an den Pins an |
- Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders |
- der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen |
- I2C-Bus läuft jetzt sicher nach einer Störung wieder an |
- Sticksignale werden präziser ausgewertet |
- Stick-Kanäle werden ans Kopter-Tool übertragen |
- Es muss die Version V1.47 des Kopter-Tool verwendet werden |
- Die Settings werden auf Default zurückgesetzt |
- am Piepen kann man die Fehlerart unterscheiden |
1. einzelnes Piepen beim Einschalten und Kalibrieren |
2. langsames Intervall mindestens 1 Sek -> Empfangsausfall |
3. schnelleres Intervall mindestens 1 Sek -> Akku |
4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört |
V0.64 H.Buss 30.09.2007 |
- beim Gieren wurden die Achsen nicht hart genug geregelt |
V0.65a H.Buss 15.10.2007 |
- Integral im Mischer wieder integriert |
- Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
- ACC/Gyro Abgleich auch bei HH |
V0.66a H.Buss 3.11.2007 |
- Messwertverarbeitung aus dem Analog-Interrupt entfernt |
- Analogmessung hängt jetzt am FC-Timing |
- Looping-Stick-Hysterese eingebaut |
- Looping-180°-Umschlag einstellbar |
- Achsenkopplung: Gierbewegung verkoppelt Nick und Roll |
- Lageregelung nach ACC-Sensor verbessert |
- zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage |
- Gyrodriftkompensation überarbeitet |
- Bug in der Gier-Stick-Berechnung behoben |
- Gyro-Messung auf 1kHz beschleunigt |
V0.67a H.Buss 16.11.2007 |
- der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode) |
- Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus |
- Feinabstimmung |
- Beim HH-Modus gab es noch Bugs |
V0.67e H.Buss 29.11.2007 |
- Parameter: Dynamic Stability und Driftfaktor eingeführt |
- Die Namen der Analogwerte werden jetzt zum Koptertool übertragen |
- Kompatibilität zum Koptertool erhöht |
V0.67f H.Buss 04.12.2007 |
- Giersteuerwert im Mischer auf Gas/2 begrenzt |
- Die Analogwerte des ACC-Sensors können dauerhaft im EEPROM gespeichert werden |
- Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional |
/branches/Nick666/V0.74d Code Redesign killagreg/FlightControl.pnproj |
---|
0,0 → 1,0 |
<Project name="FlightControl"><Folder name="Sources"><File path="ubx.c"></File><File path="analog.c"></File><File path="dsl.c"></File><File path="eeprom.c"></File><File path="fc.c"></File><File path="gps.c"></File><File path="led.c"></File><File path="main.c"></File><File path="menu.c"></File><File path="mk3mag.c"></File><File path="mm3.c"></File><File path="mymath.c"></File><File path="printf_P.c"></File><File path="rc.c"></File><File path="spectrum.c"></File><File path="spi.c"></File><File path="timer0.c"></File><File path="timer2.c"></File><File path="twimaster.c"></File><File path="uart0.c"></File><File path="uart1.c"></File></Folder><Folder name="Header"><File path="ubx.h"></File><File path="analog.h"></File><File path="dsl.h"></File><File path="eeprom.h"></File><File path="fc.h"></File><File path="gps.h"></File><File path="led.h"></File><File path="main.h"></File><File path="menu.h"></File><File path="mk3mag.h"></File><File path="mm3.h"></File><File path="mymath.h"></File><File path="old_macros.h"></File><File path="printf_P.h"></File><File path="rc.h"></File><File path="spectrum.h"></File><File path="spi.h"></File><File path="timer0.h"></File><File path="timer2.h"></File><File path="twimaster.h"></File><File path="uart0.h"></File><File path="uart1.h"></File></Folder><File path="License.txt"></File><File path="makefile"></File><File path="version.txt"></File></Project> |
/branches/Nick666/V0.74d Code Redesign killagreg/FlightControl.pnps |
---|
0,0 → 1,0 |
<pd><ViewState><e p="FlightControl" x="true"></e><e p="FlightControl\Header" x="true"></e><e p="FlightControl\Sources" x="true"></e></ViewState></pd> |
/branches/Nick666/V0.74d Code Redesign killagreg/License.txt |
---|
0,0 → 1,52 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-profit use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
// + clearly linked and named as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
/branches/Nick666/V0.74d Code Redesign killagreg/analog.c |
---|
0,0 → 1,355 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <stdlib.h> |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include "analog.h" |
#include "main.h" |
#include "timer0.h" |
#include "fc.h" |
#include "printf_P.h" |
#include "eeprom.h" |
#include "twimaster.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; |
volatile int16_t HiResGyroNick = 2500, HiResGyroRoll = 2500; |
volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0, AdValueAccZ = 0; |
volatile int32_t AirPressure = 32000; |
volatile uint8_t average_pressure = 0; |
volatile int16_t StartAirPressure; |
volatile uint16_t ReadingAirPressure = 1023; |
volatile int16_t HeightD = 0; |
volatile uint16_t MeasurementCounter = 0; |
volatile uint8_t ADReady = 1; |
uint8_t DacOffsetGyroNick = 115, DacOffsetGyroRoll = 115, DacOffsetGyroYaw = 115; |
uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
int8_t ExpandBaro = 0; |
uint8_t PressureSensorOffset; |
/*****************************************************/ |
/* Initialize Analog Digital Converter */ |
/*****************************************************/ |
void ADC_Init(void) |
{ |
uint8_t sreg = SREG; |
// disable all interrupts before reconfiguration |
cli(); |
//ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
DDRA = 0x00; |
PORTA = 0x00; |
// Digital Input Disable Register 0 |
// Disable digital input buffer for analog adc_channel pins |
DIDR0 = 0xFF; |
// external reference, adjust data to the right |
ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
ADMUX = (ADMUX & 0xE0) | 0x00; |
//Set ADC Control and Status Register A |
//Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
//Set ADC Control and Status Register B |
//Trigger Source to Free Running Mode |
ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
// Start AD conversion |
ADC_Enable(); |
// restore global interrupt flags |
SREG = sreg; |
} |
void SearchAirPressureOffset(void) |
{ |
uint8_t off; |
off = GetParamByte(PID_PRESSURE_OFFSET); |
if(off > 20) off -= 10; |
OCR0A = off; |
ExpandBaro = 0; |
Delay_ms_Mess(100); |
if(ReadingAirPressure < 850) off = 0; |
for(; off < 250;off++) |
{ |
OCR0A = off; |
Delay_ms_Mess(50); |
printf("."); |
if(ReadingAirPressure < 850) break; |
} |
SetParamByte(PID_PRESSURE_OFFSET, off); |
PressureSensorOffset = off; |
Delay_ms_Mess(300); |
} |
void SearchDacGyroOffset(void) |
{ |
uint8_t i, ready = 0; |
uint16_t timeout ; |
GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
timeout = SetDelay(2000); |
if(BoardRelease == 13) // the auto offset calibration is available only at board release 1.3 |
{ |
for(i = 140; i != 0; i--) |
{ |
if(ready == 3 && i > 10) i = 9; |
ready = 0; |
if(AdValueGyroNick < 1020) DacOffsetGyroNick--; else if(AdValueGyroNick > 1030) DacOffsetGyroNick++; else ready++; |
if(AdValueGyroRoll < 1020) DacOffsetGyroRoll--; else if(AdValueGyroRoll > 1030) DacOffsetGyroRoll++; else ready++; |
if(AdValueGyroYaw < 1020) DacOffsetGyroYaw-- ; else if(AdValueGyroYaw > 1030) DacOffsetGyroYaw++ ; else ready++; |
I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // initiate data transmission |
if(DacOffsetGyroNick < 10) { GyroDefectNick = 1; DacOffsetGyroNick = 10;}; if(DacOffsetGyroNick > 245) { GyroDefectNick = 1; DacOffsetGyroNick = 245;}; |
if(DacOffsetGyroRoll < 10) { GyroDefectRoll = 1; DacOffsetGyroRoll = 10;}; if(DacOffsetGyroRoll > 245) { GyroDefectRoll = 1; DacOffsetGyroRoll = 245;}; |
if(DacOffsetGyroYaw < 10) { GyroDefectYaw = 1; DacOffsetGyroYaw = 10;}; if(DacOffsetGyroYaw > 245) { GyroDefectYaw = 1; DacOffsetGyroYaw = 245;}; |
while(twi_state) |
{ |
if(CheckDelay(timeout)) |
{ |
printf("\r\n DAC or I2C Error1 check I2C, 3Vref, DAC, and BL-Ctrl"); |
break; |
} |
} // wait for end of data transmission |
average_pressure = 0; |
ADC_Enable(); |
while(average_pressure == 0); |
if(i < 10) Delay_ms_Mess(10); |
} |
Delay_ms_Mess(70); |
} |
} |
/*****************************************************/ |
/* Interrupt Service Routine for ADC */ |
/*****************************************************/ |
// runs at 312.5 kHz or 3.2 µs |
// if after (60.8µs) all 19 states are processed the interrupt is disabled |
// and the update of further ads is stopped |
/* |
0 nickgyro |
1 rollgyro |
2 yawgyro |
3 accroll |
4 accnick |
5 nickgyro |
6 rollgyro |
7 ubat |
8 acctop |
9 air pressure |
10 nickgyro |
11 rollgyro |
12 yawgyro |
13 accroll |
14 accnick |
15 gyronick |
16 gyroroll |
17 airpressure |
*/ |
#define AD_GYRO_YAW 0 |
#define AD_GYRO_ROLL 1 |
#define AD_GYRO_NICK 2 |
#define AD_AIRPRESS 3 |
#define AD_UBAT 4 |
#define AD_ACC_TOP 5 |
#define AD_ACC_ROLL 6 |
#define AD_ACC_NICK 7 |
ISR(ADC_vect) |
{ |
static uint8_t ad_channel = AD_GYRO_NICK, state = 0; |
static uint16_t gyroyaw, gyroroll, gyronick, accroll, accnick; |
static int32_t filtergyronick, filtergyroroll; |
static int16_t tmpAirPressure = 0; |
// state machine |
switch(state++) |
{ |
case 0: |
gyronick = ADC; // get nick gyro voltage 1st sample |
ad_channel = AD_GYRO_ROLL; |
break; |
case 1: |
gyroroll = ADC; // get roll gyro voltage 1st sample |
ad_channel = AD_GYRO_YAW; |
break; |
case 2: |
gyroyaw = ADC; // get yaw gyro voltage 1st sample |
ad_channel = AD_ACC_ROLL; |
break; |
case 3: |
accroll = ADC; // get roll acc voltage 1st sample |
ad_channel = AD_ACC_NICK; |
break; |
case 4: |
accnick = ADC; // get nick acc voltage 1st sample |
ad_channel = AD_GYRO_NICK; |
break; |
case 5: |
gyronick += ADC; // get nick gyro voltage 2nd sample |
ad_channel = AD_GYRO_ROLL; |
break; |
case 6: |
gyroroll += ADC; // get roll gyro voltage 2nd sample |
ad_channel = AD_UBAT; |
break; |
case 7: |
// get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3 |
UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value |
ad_channel = AD_ACC_TOP; |
break; |
case 8: |
AdValueAccZ = ADC; // get plain acceleration in Z direction |
AdValueAccTop = (int16_t)ADC - AdBiasAccTop; // get acceleration in Z direction |
if(AdValueAccTop > 1) |
{ |
if(AdBiasAccTop < 750) |
{ |
AdBiasAccTop += 0.02; |
if(ModelIsFlying < 500) AdBiasAccTop += 0.1; |
} |
} |
else if(AdValueAccTop < -1) |
{ |
if(AdBiasAccTop > 550) |
{ |
AdBiasAccTop -= 0.02; |
if(ModelIsFlying < 500) AdBiasAccTop -= 0.1; |
} |
} |
ReadingIntegralTop += AdValueAccTop; // load |
ReadingIntegralTop -= ReadingIntegralTop / 1024; // discharge |
ad_channel = AD_AIRPRESS; |
break; |
// case 9 is moved to the end |
case 10: |
gyronick += ADC; // get nick gyro voltage 3rd sample |
ad_channel = AD_GYRO_ROLL; |
break; |
case 11: |
gyroroll += ADC; // get roll gyro voltage 3rd sample |
ad_channel = AD_GYRO_YAW; |
break; |
case 12: |
gyroyaw += ADC; // get yaw gyro voltage 2nd sample |
if(BoardRelease == 10) AdValueGyroYaw = (gyroyaw + 1) / 2; // analog gain on board 1.0 is 2 times higher |
else |
if(BoardRelease == 20) AdValueGyroYaw = 2047 - gyroyaw; // 2 times higher than a single sample |
else AdValueGyroYaw = gyroyaw; // 2 times higher than a single sample |
ad_channel = AD_ACC_ROLL; |
break; |
case 13: |
accroll += ADC; // get roll acc voltage 2nd sample |
AdValueAccRoll = AdBiasAccRoll - accroll; // subtract bias |
ad_channel = AD_ACC_NICK; |
break; |
case 14: |
accnick += ADC; // get nick acc voltage 2nd sample |
AdValueAccNick = accnick - AdBiasAccNick; // subtract bias |
ad_channel = AD_GYRO_NICK; |
break; |
case 15: |
gyronick += ADC; // get nick gyro voltage 4th sample |
if(BoardRelease == 10) gyronick *= 2; // 8 times higer than a single sample, HW gain x2 |
else gyronick *= 4; // 16 times higer than a single sample |
AdValueGyroNick = gyronick / 8; // 2 times higher than a single sample |
filtergyronick = (filtergyronick + gyronick) / 2; //(16 samples)/2 results in a factor of 8 higher than a single sample) see HIRES_GYRO_AMPLIFY |
HiResGyroNick = filtergyronick - BiasHiResGyroNick; |
FilterHiResGyroNick = (FilterHiResGyroNick + HiResGyroNick) / 2; |
ad_channel = AD_GYRO_ROLL; |
break; |
case 16: |
gyroroll += ADC; // get roll gyro voltage 4th sample |
if(BoardRelease == 10) gyroroll *= 2; // 8 times higer than a single sample, HW gain x2 |
else gyroroll *= 4; // 16 times higer than a single sample |
AdValueGyroRoll = gyroroll / 8; // 2 times higher than a single sample |
filtergyroroll = (filtergyroroll + gyroroll) / 2; //(16 samples)/2 results in a factor of 8 higher than a single sample) see HIRES_GYRO_AMPLIFY |
HiResGyroRoll = filtergyroroll - BiasHiResGyroRoll; |
FilterHiResGyroRoll = (FilterHiResGyroRoll + HiResGyroRoll) / 2; |
ad_channel = AD_AIRPRESS; |
break; |
case 17: |
state = 0; // restart sequence from beginning |
ADReady = 1; // mark |
MeasurementCounter++; // increment total measurement counter |
// "break;" is missing to enable fall thru case 9 at the end of the sequence |
case 9: |
tmpAirPressure += ADC; // sum adc values |
if(++average_pressure >= 5) // if 5 values are summerized for averaging |
{ |
tmpAirPressure /= 2; |
ReadingAirPressure = ADC; // update meassured air pressure |
HeightD = (31 * HeightD + (int16_t)FCParam.HeightD * (int16_t)(255 * ExpandBaro + StartAirPressure - tmpAirPressure - ReadingHeight)) / 32; // D-Part = CurrentValue - OldValue |
AirPressure = (tmpAirPressure + 7 * AirPressure + 4) / 8; // averaging using history |
ReadingHeight = 255 * ExpandBaro + StartAirPressure - AirPressure; |
average_pressure = 0; // reset air pressure measurement counter |
tmpAirPressure /= 2; |
} |
ad_channel = AD_GYRO_NICK; |
break; |
default: |
ad_channel = AD_GYRO_NICK; |
state = 0; |
break; |
} |
// set adc muxer to next ad_channel |
ADMUX = (ADMUX & 0xE0) | ad_channel; |
// after full cycle stop further interrupts |
if(state != 0) ADC_Enable(); |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/analog.h |
---|
0,0 → 1,37 |
#ifndef _ANALOG_H |
#define _ANALOG_H |
#include <inttypes.h> |
extern volatile uint16_t MeasurementCounter; |
extern volatile int16_t UBat; |
extern volatile int16_t AdValueGyroNick, AdValueGyroRoll, AdValueGyroYaw; |
#define HIRES_GYRO_AMPLIFY 8 // the offset corrected HiResGyro values are a factor of 8 scaled to the AdValues |
extern volatile int16_t HiResGyroNick, HiResGyroRoll; |
extern volatile int16_t FilterHiResGyroNick, FilterHiResGyroRoll; |
extern volatile int16_t AdValueAccRoll, AdValueAccNick, AdValueAccTop, AdValueAccZ; |
extern volatile int32_t AirPressure; |
extern volatile int16_t HeightD; |
extern volatile uint16_t ReadingAirPressure; |
extern volatile int16_t StartAirPressure; |
extern volatile uint8_t ADReady; |
extern uint8_t DacOffsetGyroNick, DacOffsetGyroRoll, DacOffsetGyroYaw; |
extern uint8_t PressureSensorOffset; |
extern int8_t ExpandBaro; |
void SearchAirPressureOffset(void); |
void SearchDacGyroOffset(void); |
void ADC_Init(void); |
// clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
#define ADC_Disable() (ADCSRA &= ~((1<<ADEN)|(1<<ADSC)|(1<<ADIE))) |
// set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
#define ADC_Enable() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
#endif //_ANALOG_H |
/branches/Nick666/V0.74d Code Redesign killagreg/dsl.c |
---|
0,0 → 1,227 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// This code has been derived from the implementation of Stefan Engelke. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
/* |
Copyright (c) 2008 Stefan Engelke <stefan@tinkerer.eu> |
Permission is hereby granted, free of charge, to any person |
obtaining a copy of this software and associated documentation |
files (the "Software"), to deal in the Software without |
restriction, including without limitation the rights to use, copy, |
modify, merge, publish, distribute, sublicense, and/or sell copies |
of the Software, and to permit persons to whom the Software is |
furnished to do so, subject to the following conditions: |
The above copyright notice and this permission notice shall be |
included in all copies or substantial portions of the Software. |
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF |
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER |
DEALINGS IN THE SOFTWARE. |
$Id: rcdsl.c 60 2008-08-21 07:50:48Z taser $ |
RCDSL.H and RCDSL.C is an INOFFICIAL implementation of the |
communication protocol used by DSL receivers of Act Europe. |
The DSL receivers have a serial communication port to connect |
two receivers in diversity mode. Each receiver is sending the |
received servo signals periodically over this port. This fact |
can be used to connect the receiver to the control unit of the |
model via UART instead of evaluating the PPM signal. |
If you have any questions, fell free to send me an e-mail. |
*/ |
/* |
Connection of DSL to SV1 of FC: |
( DSL Pin1 is on side of channel 4 ) |
1. GND <--> pin 7 (GND) |
2. TXD <--> pin 3 (RXD1 Atmega644p) |
3. RXD <--> pin 4 (TXD1 Atmega644p) optional |
4. 5V <--> pin 2 (5V) |
Do not connect the receiver via PPM-Sumsignal output the same time. |
Data are send at every 20 ms @ 38400 Baud 8-N-1 |
Data Frame: |0xFF|0xFF|0x1F|FREQALLOC|??|RSSI|VBAT|??|CRC|10|CH0D1|CH0D0|CH1D1|CH1D0|CRC| ...etc |
FREQALLOC = 35, 40, 72 |
RSSI = 0.. 255 // Received signal strength indicator |
VBAT = 0...255 // supply voltage (0.0V.. 7.8V) |
Servo Pair: |0x1X|CHXD1|CHXD0|CHX+1D1|CHX+1D0|CRC| |
X is channel index of 1 servo value |
D1D0 is servo value as u16 in range of 7373 (1ms) to 14745 (2ms) |
there are 8 channels submitted, i.e 4 servo pairs |
Frame examples with signel received |
FFFF 1F23F079A304AD 1036012B1E6F 122AFB2AECB2 142B4D2B4404 1636872B33CE |
FFFF 1F23F079A304AD 1036002B1F6F 122AFE2AEBB0 142B4B2B4406 1636872B33CE |
FFFF 1F23F079A304AD 1035FF2B226E 122AFC2AEAB3 142B4E2B4304 1636882B33CD |
FFFF 1F23F079A304AD 1036022B1E6E 122AFB2AEEB0 142B4A2B4506 1636872B33CE |
FFFF 1F23F079A304AD 1036022B1E6E 122AFE2AEBB0 142B4B2B4406 1636882B33CD |
FFFF 1F23F079A304AD 1036012B1E6F 122AFD2AEAB2 142B4E2B4403 1636862B33CF |
FFFF 1F23F079A304AD 1036032B1D6E 122AFD2AEBB1 142B4C2B4504 1636862B33CF |
Frame examples with no signal received |
FFFF 1F23F000A30426 |
FFFF 1F23F000A30426 |
FFFF 1F23F000A30426 |
FFFF 1F23F000A30426 |
FFFF 1F23F000A30426 |
FFFF 1F23F000A30426 |
FFFF 1F23F000A30426 |
*/ |
#include <stdlib.h> |
#include "dsl.h" |
#include "rc.h" |
#include "uart0.h" |
uint8_t dsl_RSSI = 0; |
uint8_t dsl_Battery = 0; |
uint8_t dsl_Allocation = 0; |
uint8_t PacketBuffer[6]; |
//uint8_t Jitter = 0; // same measurement as RC_Quality in rc.c |
typedef union |
{ |
int16_t Servo[2]; |
uint8_t byte[4]; |
} ChannelPair_t; |
ChannelPair_t ChannelPair; |
// This function is called, when a new servo signal is properly received. |
// Parameters: servo - servo number (0-9) |
// signal - servo signal between 7373 (1ms) and 14745 (2ms) |
void dsl_new_signal(uint8_t channel, int16_t signal) |
{ |
int16_t tmp; |
uint8_t index = channel + 1; // mk channels start with 1 |
//RC_Quality = (212 * (uint16_t)dsl_RSSI) / 128; // have to be scaled approx. by a factor of 1.66 to get 200 at full level |
//if(RC_Quality > 255) RC_Quality = 255; |
// signal from DSL-receiver is between 7373 (1ms) und 14745 (2ms). |
signal-= 11059; // shift to neutral |
signal/= 24; // scale to mk rc resolution |
if(abs(signal-PPM_in[index]) < 6) |
{ |
if(RC_Quality < 200) RC_Quality +=10; |
else RC_Quality = 200; |
} |
// calculate exponential history for signal |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
// calculate signal difference on good signal level |
if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for noise reduction |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; // update channel value |
if(index == 4) |
{ |
NewPpmData = 0; |
} |
} |
// This function is called within dsl_parser(), when a complete |
// data packet with valid checksum has been received. |
void dsl_decode_packet(void) |
{ |
uint8_t i; |
// check for header condition |
if((PacketBuffer[0] & 0xF0) == 0x10) |
{ |
if(PacketBuffer[0] == 0x1F) // separate status frame |
{ |
dsl_Allocation = PacketBuffer[1]; // Get frequency allocation |
// ?? = PacketBuffer[2]; |
dsl_RSSI = PacketBuffer[3]; // Get signal quality |
dsl_Battery = PacketBuffer[4]; // Get voltage of battery supply |
// ?? = PacketBuffer[5]; |
if(dsl_RSSI == 0) |
{ |
RC_Quality = 0; |
for (i = 0; i<5; i++) |
{ |
PPM_diff[i] = 0; |
PPM_in[i] = 0; |
} |
} |
} |
else // probably a channel pair |
{ |
i = PacketBuffer[0] & 0x0F; // last 4 bits of the header indicates the channel pair |
if(i < 10)// maximum 12 channels |
{ |
// big to little endian |
ChannelPair.byte[1] = PacketBuffer[1]; |
ChannelPair.byte[0] = PacketBuffer[2]; |
ChannelPair.byte[3] = PacketBuffer[3]; |
ChannelPair.byte[2] = PacketBuffer[4]; |
dsl_new_signal(i, ChannelPair.Servo[0]); |
dsl_new_signal(i+1,ChannelPair.Servo[1]); |
} |
} |
} // EOF header condition |
} |
// this function should be called within the UART RX ISR |
void dsl_parser(uint8_t c) |
{ |
static uint8_t last_c = 0; |
static uint8_t crc = 0; |
static uint8_t cnt = 0; |
static uint8_t packet_len = 0; |
// check for sync condition |
if ((c==0xFF) && (last_c==0xFF)) |
{ |
cnt = 0; // reset byte counter |
crc = 0; // reset checksum |
return; |
} |
if(cnt == 0) // begin of a packet |
{ |
if(c == 0x1F) packet_len = 5; // a status packet has 5 bytes + crc |
else packet_len = 4; // a channel pair packet has 4 bytes + crc |
} |
if(cnt > packet_len) // packet complete, crc byte received |
{ |
// calculate checksum |
crc = ~crc; |
if (crc == 0xFF) crc = 0xFE; |
// if crc matches decode the packet |
if (c == crc) dsl_decode_packet(); |
// handle next packet |
cnt = 0; |
crc = 0; |
} |
else // collect channel data bytes |
{ |
PacketBuffer[cnt++] = c; |
crc += c; |
} |
// store last byte for sync check |
last_c = c; |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/dsl.h |
---|
0,0 → 1,15 |
#ifndef _DSL_H |
#define _DSL_H |
#include <inttypes.h> |
extern uint8_t dsl_RSSI; // Received signal strength indicator |
extern uint8_t dsl_Battery; // Battery voltage (0-255 [0V - 8.2V]) |
extern uint8_t dsl_Allocation; // Frequency allocation (35,40,72) |
#define USART1_BAUD 38400 |
// this function should be called within the UART RX ISR |
extern void dsl_parser(uint8_t c); |
#endif //_DSL_H |
/branches/Nick666/V0.74d Code Redesign killagreg/eeprom.c |
---|
0,0 → 1,582 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Contant Values |
// + 0-250 -> normale Values |
// + 251 -> Poti1 |
// + 252 -> Poti2 |
// + 253 -> Poti3 |
// + 254 -> Poti4 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#ifndef EEMEM |
#define EEMEM __attribute__ ((section (".eeprom"))) |
#endif |
#include <avr/eeprom.h> |
#include <string.h> |
#include "eeprom.h" |
#include "printf_P.h" |
#include "led.h" |
#include "main.h" |
#include "fc.h" |
// byte array in eeprom |
uint8_t EEPromArray[E2END+1] EEMEM; |
paramset_t ParamSet; |
MixerTable_t Mixer; |
/***************************************************/ |
/* Default Values for parameter set 1 */ |
/***************************************************/ |
void ParamSet_DefaultSet1(void) // sport |
{ |
if(BoardRelease >= 20) |
{ |
ParamSet.GyroD = 5; |
ParamSet.DriftComp = 0; |
ParamSet.GyroAccFactor = 27; |
ParamSet.AngleTurnOverNick = 78; |
ParamSet.AngleTurnOverRoll = 78; |
} |
else |
{ |
ParamSet.GyroD = 3; |
ParamSet.DriftComp = 32; |
ParamSet.GyroAccFactor = 30; |
ParamSet.AngleTurnOverNick = 85; |
ParamSet.AngleTurnOverRoll = 85; |
} |
ParamSet.ChannelAssignment[CH_NICK] = 1; |
ParamSet.ChannelAssignment[CH_ROLL] = 2; |
ParamSet.ChannelAssignment[CH_GAS] = 3; |
ParamSet.ChannelAssignment[CH_YAW] = 4; |
ParamSet.ChannelAssignment[CH_POTI1] = 5; |
ParamSet.ChannelAssignment[CH_POTI2] = 6; |
ParamSet.ChannelAssignment[CH_POTI3] = 7; |
ParamSet.ChannelAssignment[CH_POTI4] = 8; |
ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
ParamSet.HeightMinGas = 30; |
ParamSet.MaxHeight = 251; |
ParamSet.HeightP = 10; |
ParamSet.HeightD = 30; |
ParamSet.Height_ACC_Effect = 30; |
ParamSet.Height_Gain = 4; |
ParamSet.StickP = 15; |
ParamSet.StickD = 30; |
ParamSet.StickYawP = 12; |
ParamSet.GasMin = 8; |
ParamSet.GasMax = 230; |
ParamSet.CompassYawEffect = 128; |
ParamSet.GyroP = 80; |
ParamSet.GyroI = 150; |
ParamSet.LowVoltageWarning = 94; |
ParamSet.EmergencyGas = 35; |
ParamSet.EmergencyGasDuration = 30; |
ParamSet.UfoArrangement = 0; |
ParamSet.IFactor = 32; |
ParamSet.UserParam1 = 0; |
ParamSet.UserParam2 = 0; |
ParamSet.UserParam3 = 0; |
ParamSet.UserParam4 = 0; |
ParamSet.UserParam5 = 0; |
ParamSet.UserParam6 = 0; |
ParamSet.UserParam7 = 0; |
ParamSet.UserParam8 = 0; |
ParamSet.ServoNickControl = 100; |
ParamSet.ServoNickComp = 40; |
ParamSet.ServoNickCompInvert = 0; |
ParamSet.ServoNickMin = 50; |
ParamSet.ServoNickMax = 150; |
ParamSet.ServoRefresh = 5; |
ParamSet.LoopGasLimit = 50; |
ParamSet.LoopThreshold = 90; |
ParamSet.LoopHysteresis = 50; |
ParamSet.BitConfig = 0; |
ParamSet.AxisCoupling1 = 90; |
ParamSet.AxisCoupling2 = 67; |
ParamSet.AxisCouplingYawCorrection = 0; |
ParamSet.GyroAccTrim = 16; |
ParamSet.DynamicStability = 100; |
ParamSet.J16Bitmask = 95; |
ParamSet.J17Bitmask = 243; |
ParamSet.J16Timing = 15; |
ParamSet.J17Timing = 15; |
ParamSet.NaviGpsModeControl = 253; |
ParamSet.NaviGpsGain = 100; |
ParamSet.NaviGpsP = 90; |
ParamSet.NaviGpsI = 90; |
ParamSet.NaviGpsD = 90; |
ParamSet.NaviGpsPLimit = 25; |
ParamSet.NaviGpsILimit = 75; |
ParamSet.NaviGpsDLimit = 75; |
ParamSet.NaviGpsACC = 0; |
ParamSet.NaviGpsMinSat = 6; |
ParamSet.NaviStickThreshold = 8; |
ParamSet.NaviWindCorrection = 90; |
ParamSet.NaviSpeedCompensation = 30; |
ParamSet.NaviOperatingRadius = 100; |
ParamSet.NaviAngleLimitation = 45; |
ParamSet.NaviPHLoginTime = 4; |
memcpy(ParamSet.Name, "Sport\0",6); |
} |
/***************************************************/ |
/* Default Values for parameter set 2 */ |
/***************************************************/ |
void ParamSet_DefaultSet2(void) // normal |
{ |
if(BoardRelease >= 20) |
{ |
ParamSet.GyroD = 5; |
ParamSet.DriftComp = 0; |
ParamSet.GyroAccFactor = 27; |
ParamSet.AngleTurnOverNick = 78; |
ParamSet.AngleTurnOverRoll = 78; |
} |
else |
{ |
ParamSet.GyroD = 3; |
ParamSet.DriftComp = 32; |
ParamSet.GyroAccFactor = 30; |
ParamSet.AngleTurnOverNick = 85; |
ParamSet.AngleTurnOverRoll = 85; |
} |
ParamSet.ChannelAssignment[CH_NICK] = 1; |
ParamSet.ChannelAssignment[CH_ROLL] = 2; |
ParamSet.ChannelAssignment[CH_GAS] = 3; |
ParamSet.ChannelAssignment[CH_YAW] = 4; |
ParamSet.ChannelAssignment[CH_POTI1] = 5; |
ParamSet.ChannelAssignment[CH_POTI2] = 6; |
ParamSet.ChannelAssignment[CH_POTI3] = 7; |
ParamSet.ChannelAssignment[CH_POTI4] = 8; |
ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
ParamSet.HeightMinGas = 30; |
ParamSet.MaxHeight = 251; |
ParamSet.HeightP = 10; |
ParamSet.HeightD = 30; |
ParamSet.Height_ACC_Effect = 30; |
ParamSet.Height_Gain = 3; |
ParamSet.StickP = 12; |
ParamSet.StickD = 16; |
ParamSet.StickYawP = 6; |
ParamSet.GasMin = 8; |
ParamSet.GasMax = 230; |
ParamSet.CompassYawEffect = 128; |
ParamSet.GyroP = 80; |
ParamSet.GyroI = 120; |
ParamSet.LowVoltageWarning = 94; |
ParamSet.EmergencyGas = 35; |
ParamSet.EmergencyGasDuration = 30; |
ParamSet.UfoArrangement = 0; |
ParamSet.IFactor = 32; |
ParamSet.UserParam1 = 0; |
ParamSet.UserParam2 = 0; |
ParamSet.UserParam3 = 0; |
ParamSet.UserParam4 = 0; |
ParamSet.UserParam5 = 0; |
ParamSet.UserParam6 = 0; |
ParamSet.UserParam7 = 0; |
ParamSet.UserParam8 = 0; |
ParamSet.ServoNickControl = 100; |
ParamSet.ServoNickComp = 40; |
ParamSet.ServoNickCompInvert = 0; |
ParamSet.ServoNickMin = 50; |
ParamSet.ServoNickMax = 150; |
ParamSet.ServoRefresh = 5; |
ParamSet.LoopGasLimit = 50; |
ParamSet.LoopThreshold = 90; |
ParamSet.LoopHysteresis = 50; |
ParamSet.BitConfig = 0; |
ParamSet.AxisCoupling1 = 90; |
ParamSet.AxisCoupling2 = 67; |
ParamSet.AxisCouplingYawCorrection = 60; |
ParamSet.GyroAccTrim = 32; |
ParamSet.DynamicStability = 75; |
ParamSet.J16Bitmask = 95; |
ParamSet.J17Bitmask = 243; |
ParamSet.J16Timing = 20; |
ParamSet.J17Timing = 20; |
ParamSet.NaviGpsModeControl = 253; |
ParamSet.NaviGpsGain = 100; |
ParamSet.NaviGpsP = 90; |
ParamSet.NaviGpsI = 90; |
ParamSet.NaviGpsD = 90; |
ParamSet.NaviGpsPLimit = 25; |
ParamSet.NaviGpsILimit = 75; |
ParamSet.NaviGpsDLimit = 75; |
ParamSet.NaviGpsACC = 0; |
ParamSet.NaviGpsMinSat = 6; |
ParamSet.NaviStickThreshold = 8; |
ParamSet.NaviWindCorrection = 90; |
ParamSet.NaviSpeedCompensation = 30; |
ParamSet.NaviOperatingRadius = 100; |
ParamSet.NaviAngleLimitation = 45; |
ParamSet.NaviPHLoginTime = 4; |
memcpy(ParamSet.Name, "Normal\0", 7); |
} |
/***************************************************/ |
/* Default Values for parameter set 3 */ |
/***************************************************/ |
void ParamSet_DefaultSet3(void) // beginner |
{ |
if(BoardRelease >= 20) |
{ |
ParamSet.GyroD = 5; |
ParamSet.DriftComp = 0; |
ParamSet.GyroAccFactor = 27; // Wert : 1-64 |
ParamSet.AngleTurnOverNick = 78; |
ParamSet.AngleTurnOverRoll = 78; |
} |
else |
{ |
ParamSet.GyroD = 3; |
ParamSet.DriftComp = 32; |
ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
ParamSet.AngleTurnOverNick = 85; |
ParamSet.AngleTurnOverRoll = 85; |
} |
ParamSet.ChannelAssignment[CH_NICK] = 1; |
ParamSet.ChannelAssignment[CH_ROLL] = 2; |
ParamSet.ChannelAssignment[CH_GAS] = 3; |
ParamSet.ChannelAssignment[CH_YAW] = 4; |
ParamSet.ChannelAssignment[CH_POTI1] = 5; |
ParamSet.ChannelAssignment[CH_POTI2] = 6; |
ParamSet.ChannelAssignment[CH_POTI3] = 7; |
ParamSet.ChannelAssignment[CH_POTI4] = 8; |
ParamSet.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE | CFG_COMPASS_ACTIVE | CFG_GPS_ACTIVE;//CFG_HEIGHT_CONTROL | CFG_HEIGHT_SWITCH | CFG_COMPASS_FIX; |
ParamSet.HeightMinGas = 30; |
ParamSet.MaxHeight = 251; |
ParamSet.HeightP = 10; |
ParamSet.HeightD = 30; |
ParamSet.Height_ACC_Effect = 30; |
ParamSet.Height_Gain = 3; |
ParamSet.StickP = 8; |
ParamSet.StickD = 16; |
ParamSet.StickYawP = 6; |
ParamSet.GasMin = 8; |
ParamSet.GasMax = 230; |
ParamSet.CompassYawEffect = 128; |
ParamSet.GyroP = 100; |
ParamSet.GyroI = 120; |
ParamSet.LowVoltageWarning = 94; |
ParamSet.EmergencyGas = 35; |
ParamSet.EmergencyGasDuration = 20; |
ParamSet.UfoArrangement = 0; |
ParamSet.IFactor = 16; |
ParamSet.UserParam1 = 0; |
ParamSet.UserParam2 = 0; |
ParamSet.UserParam3 = 0; |
ParamSet.UserParam4 = 0; |
ParamSet.UserParam5 = 0; |
ParamSet.UserParam6 = 0; |
ParamSet.UserParam7 = 0; |
ParamSet.UserParam8 = 0; |
ParamSet.ServoNickControl = 100; |
ParamSet.ServoNickComp = 40; |
ParamSet.ServoNickCompInvert = 0; |
ParamSet.ServoNickMin = 50; |
ParamSet.ServoNickMax = 150; |
ParamSet.ServoRefresh = 5; |
ParamSet.LoopGasLimit = 50; |
ParamSet.LoopThreshold = 90; |
ParamSet.LoopHysteresis = 50; |
ParamSet.BitConfig = 0; |
ParamSet.AxisCoupling1 = 90; |
ParamSet.AxisCoupling2 = 67; |
ParamSet.AxisCouplingYawCorrection = 70; |
ParamSet.GyroAccTrim = 32; |
ParamSet.DynamicStability = 50; |
ParamSet.J16Bitmask = 95; |
ParamSet.J17Bitmask = 243; |
ParamSet.J16Timing = 30; |
ParamSet.J17Timing = 30; |
ParamSet.NaviGpsModeControl = 253; |
ParamSet.NaviGpsGain = 100; |
ParamSet.NaviGpsP = 90; |
ParamSet.NaviGpsI = 90; |
ParamSet.NaviGpsD = 90; |
ParamSet.NaviGpsPLimit = 25; |
ParamSet.NaviGpsILimit = 75; |
ParamSet.NaviGpsDLimit = 75; |
ParamSet.NaviGpsACC = 0; |
ParamSet.NaviGpsMinSat = 6; |
ParamSet.NaviStickThreshold = 8; |
ParamSet.NaviWindCorrection = 90; |
ParamSet.NaviSpeedCompensation = 30; |
ParamSet.NaviOperatingRadius = 100; |
ParamSet.NaviAngleLimitation = 45; |
ParamSet.NaviPHLoginTime = 4; |
memcpy(ParamSet.Name, "Beginner\0", 9); |
} |
/***************************************************/ |
/* Read Parameter from EEPROM as byte */ |
/***************************************************/ |
uint8_t GetParamByte(uint16_t param_id) |
{ |
return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
} |
/***************************************************/ |
/* Write Parameter to EEPROM as byte */ |
/***************************************************/ |
void SetParamByte(uint16_t param_id, uint8_t value) |
{ |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
} |
/***************************************************/ |
/* Read Parameter from EEPROM as word */ |
/***************************************************/ |
uint16_t GetParamWord(uint16_t param_id) |
{ |
return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
} |
/***************************************************/ |
/* Write Parameter to EEPROM as word */ |
/***************************************************/ |
void SetParamWord(uint16_t param_id, uint16_t value) |
{ |
eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
} |
/***************************************************/ |
/* Read Parameter Set from EEPROM */ |
/***************************************************/ |
// number [1..5] |
void ParamSet_ReadFromEEProm(uint8_t setnumber) |
{ |
if((1 > setnumber) || (setnumber > 5)) setnumber = 3; |
eeprom_read_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
LED_Init(); |
} |
/***************************************************/ |
/* Write Parameter Set to EEPROM */ |
/***************************************************/ |
// number [1..5] |
void ParamSet_WriteToEEProm(uint8_t setnumber) |
{ |
if(setnumber > 5) setnumber = 5; |
if(setnumber < 1) return; |
eeprom_write_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * (setnumber - 1)], PARAMSET_STRUCT_LEN); |
eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAMSET_LENGTH], PARAMSET_STRUCT_LEN); |
eeprom_write_block( &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_CHANNELS], 8); // backup the first 8 bytes that is the rc channel mapping |
// set this parameter set to active set |
SetActiveParamSet(setnumber); |
LED_Init(); |
} |
/***************************************************/ |
/* Read MixerTable from EEPROM */ |
/***************************************************/ |
uint8_t MixerTable_ReadFromEEProm(void) |
{ |
if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE]) == EEMIXER_REVISION) |
{ |
eeprom_read_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
return 1; |
} |
else return 0; |
} |
/***************************************************/ |
/* Write Mixer Table to EEPROM */ |
/***************************************************/ |
uint8_t MixerTable_WriteToEEProm(void) |
{ |
if(Mixer.Revision == EEMIXER_REVISION) |
{ |
eeprom_write_block((uint8_t *) &Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
return 1; |
} |
else return 0; |
} |
/***************************************************/ |
/* Default Values for Mixer Table */ |
/***************************************************/ |
void MixerTable_Default(void) // Quadro |
{ |
uint8_t i; |
Mixer.Revision = EEMIXER_REVISION; |
// clear mixer table |
for(i = 0; i < 16; i++) |
{ |
Mixer.Motor[i][MIX_GAS] = 0; |
Mixer.Motor[i][MIX_NICK] = 0; |
Mixer.Motor[i][MIX_ROLL] = 0; |
Mixer.Motor[i][MIX_YAW] = 0; |
} |
// default = Quadro |
Mixer.Motor[0][MIX_GAS] = 64; Mixer.Motor[0][MIX_NICK] = +64; Mixer.Motor[0][MIX_ROLL] = 0; Mixer.Motor[0][MIX_YAW] = +64; |
Mixer.Motor[1][MIX_GAS] = 64; Mixer.Motor[1][MIX_NICK] = -64; Mixer.Motor[1][MIX_ROLL] = 0; Mixer.Motor[1][MIX_YAW] = +64; |
Mixer.Motor[2][MIX_GAS] = 64; Mixer.Motor[2][MIX_NICK] = 0; Mixer.Motor[2][MIX_ROLL] = -64; Mixer.Motor[2][MIX_YAW] = -64; |
Mixer.Motor[3][MIX_GAS] = 64; Mixer.Motor[3][MIX_NICK] = 0; Mixer.Motor[3][MIX_ROLL] = +64; Mixer.Motor[3][MIX_YAW] = -64; |
memcpy(Mixer.Name, "Quadro\0", 7); |
} |
/***************************************************/ |
/* Get active parameter set */ |
/***************************************************/ |
uint8_t GetActiveParamSet(void) |
{ |
uint8_t setnumber; |
setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
if(setnumber > 5) |
{ |
setnumber = 3; |
eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
} |
return(setnumber); |
} |
/***************************************************/ |
/* Set active parameter set */ |
/***************************************************/ |
void SetActiveParamSet(uint8_t setnumber) |
{ |
if(setnumber > 5) setnumber = 5; |
if(setnumber < 1) setnumber = 1; |
eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
} |
/***************************************************/ |
/* Initialize EEPROM Parameter Sets */ |
/***************************************************/ |
void ParamSet_Init(void) |
{ |
uint8_t Channel_Backup = 0, i; |
// parameter version check |
if(eeprom_read_byte(&EEPromArray[PID_PARAM_REVISION]) != EEPARAM_REVISION) |
{ |
// if version check faild |
printf("\n\rInit Parameter in EEPROM"); |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_MIXER_TABLE], 0xFF); // reset also mixer table |
// check if channel mapping backup is valid |
if( (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]) < 12) |
&& (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]) < 12) |
&& (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]) < 12) |
&& (eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]) < 12) |
) |
{ |
Channel_Backup = 1; |
} |
// fill all 5 parameter settings |
for (i = 1;i < 6; i++) |
{ |
switch(i) |
{ |
case 1: |
ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
break; |
case 2: |
ParamSet_DefaultSet2(); // Kamera |
break; |
case 3: |
ParamSet_DefaultSet3(); // Beginner |
break; |
default: |
ParamSet_DefaultSet2(); // Kamera |
break; |
} |
if(Channel_Backup) // if we have a rc channel mapping backup in eeprom |
{ |
// restore it |
ParamSet.ChannelAssignment[0] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+0]); |
ParamSet.ChannelAssignment[1] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+1]); |
ParamSet.ChannelAssignment[2] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+2]); |
ParamSet.ChannelAssignment[3] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+3]); |
ParamSet.ChannelAssignment[4] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+4]); |
ParamSet.ChannelAssignment[5] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+5]); |
ParamSet.ChannelAssignment[6] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+6]); |
ParamSet.ChannelAssignment[7] = eeprom_read_byte(&EEPromArray[EEPROM_ADR_CHANNELS+7]); |
} |
ParamSet_WriteToEEProm(i); |
} |
// default-Setting is parameter set 3 |
SetActiveParamSet(3); |
// update version info |
SetParamByte(PID_PARAM_REVISION, EEPARAM_REVISION); |
} |
// read active parameter set to ParamSet stucture |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
printf("\n\rUsing Parameter Set %d", GetActiveParamSet()); |
// load mixer table |
if(!MixerTable_ReadFromEEProm() ) |
{ |
printf("\n\rGenerating default Mixer Table"); |
MixerTable_Default(); // Quadro |
MixerTable_WriteToEEProm(); |
} |
// determine motornumber |
RequiredMotors = 0; |
for(i = 0; i < 16; i++) |
{ |
if(Mixer.Motor[i][MIX_GAS] > 0) RequiredMotors++; |
} |
printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name, RequiredMotors); |
printf("\n\r=============================="); |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/eeprom.h |
---|
0,0 → 1,176 |
#ifndef _EEPROM_H |
#define _EEPROM_H |
#include <inttypes.h> |
#define EEPROM_ADR_PARAM_BEGIN 0 |
#define PID_PARAM_REVISION 1 // byte |
#define PID_ACTIVE_SET 2 // byte |
#define PID_PRESSURE_OFFSET 3 // byte |
#define PID_ACC_NICK 4 // word |
#define PID_ACC_ROLL 6 // word |
#define PID_ACC_TOP 8 // word |
#ifdef USE_KILLAGREG |
#define PID_MM3_X_OFF 11 // byte |
#define PID_MM3_Y_OFF 12 // byte |
#define PID_MM3_Z_OFF 13 // byte |
#define PID_MM3_X_RANGE 14 // word |
#define PID_MM3_Y_RANGE 16 // word |
#define PID_MM3_Z_RANGE 18 // word |
#endif |
#define EEPROM_ADR_CHANNELS 80 // 8 bytes |
#define EEPROM_ADR_PARAMSET_LENGTH 98 // word |
#define EEPROM_ADR_PARAMSET_BEGIN 100 |
#define EEPROM_ADR_MIXER_TABLE 1000 // 1000 - 1076 |
#define MIX_GAS 0 |
#define MIX_NICK 1 |
#define MIX_ROLL 2 |
#define MIX_YAW 3 |
typedef struct |
{ |
uint8_t Revision; |
int8_t Name[12]; |
int8_t Motor[16][4]; |
} __attribute__((packed)) MixerTable_t; |
extern MixerTable_t Mixer; |
// bit mask for ParamSet.GlobalConfig |
#define CFG_HEIGHT_CONTROL 0x01 |
#define CFG_HEIGHT_SWITCH 0x02 |
#define CFG_HEADING_HOLD 0x04 |
#define CFG_COMPASS_ACTIVE 0x08 |
#define CFG_COMPASS_FIX 0x10 |
#define CFG_GPS_ACTIVE 0x20 |
#define CFG_AXIS_COUPLING_ACTIVE 0x40 |
#define CFG_ROTARY_RATE_LIMITER 0x80 |
// bit mask for ParamSet.BitConfig |
#define CFG_LOOP_UP 0x01 |
#define CFG_LOOP_DOWN 0x02 |
#define CFG_LOOP_LEFT 0x04 |
#define CFG_LOOP_RIGHT 0x08 |
#define CFG_HEIGHT_3SWITCH 0x10 |
// defines for lookup ParamSet.ChannelAssignment |
#define CH_NICK 0 |
#define CH_ROLL 1 |
#define CH_GAS 2 |
#define CH_YAW 3 |
#define CH_POTI1 4 |
#define CH_POTI2 5 |
#define CH_POTI3 6 |
#define CH_POTI4 7 |
#define EEPARAM_REVISION 75 // is count up, if paramater stucture has changed (compatibility) |
#define EEMIXER_REVISION 1 // is count up, if Mixer stucture has changed (compatibility) |
// values above 250 representing poti1 to poti4 |
typedef struct |
{ |
uint8_t ChannelAssignment[8]; // see upper defines for details |
uint8_t GlobalConfig; // see upper defines for bitcoding |
uint8_t HeightMinGas; // Wert : 0-100 |
uint8_t HeightD; // Wert : 0-250 |
uint8_t MaxHeight; // Wert : 0-32 |
uint8_t HeightP; // Wert : 0-32 |
uint8_t Height_Gain; // Wert : 0-50 |
uint8_t Height_ACC_Effect; // Wert : 0-250 |
uint8_t StickP; // Wert : 1-6 |
uint8_t StickD; // Wert : 0-64 |
uint8_t StickYawP; // Wert : 1-20 |
uint8_t GasMin; // Wert : 0-32 |
uint8_t GasMax; // Wert : 33-250 |
uint8_t GyroAccFactor; // Wert : 1-64 |
uint8_t CompassYawEffect; // Wert : 0-32 |
uint8_t GyroP; // Wert : 10-250 |
uint8_t GyroI; // Wert : 0-250 |
uint8_t GyroD; // Wert : 0-250 |
uint8_t LowVoltageWarning; // Wert : 0-250 |
uint8_t EmergencyGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
uint8_t EmergencyGasDuration; // Wert : 0-250 // Zeitbis auf EmergencyGas geschaltet wird, wg. Rx-Problemen |
uint8_t UfoArrangement; // x oder + Formation |
uint8_t IFactor; // Wert : 0-250 |
uint8_t UserParam1; // Wert : 0-250 |
uint8_t UserParam2; // Wert : 0-250 |
uint8_t UserParam3; // Wert : 0-250 |
uint8_t UserParam4; // Wert : 0-250 |
uint8_t ServoNickControl; // Wert : 0-250 // Stellung des Servos |
uint8_t ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
uint8_t ServoNickMin; // Wert : 0-250 // Anschlag |
uint8_t ServoNickMax; // Wert : 0-250 // Anschlag |
uint8_t ServoRefresh; // Wert: 0-250 // Refreshrate of servo pwm output |
uint8_t LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
uint8_t LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
uint8_t LoopHysteresis; // Wert: 0-250 Hysterese für Stickausschlag |
uint8_t AxisCoupling1; // Wert: 0-250 Faktor, mit dem Yaw die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
uint8_t AxisCoupling2; // Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
uint8_t AxisCouplingYawCorrection;// Wert: 0-250 Faktor, mit dem Nick und Roll verkoppelt werden |
uint8_t AngleTurnOverNick; // Wert: 0-250 180°-Punkt |
uint8_t AngleTurnOverRoll; // Wert: 0-250 180°-Punkt |
uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
uint8_t DriftComp; // limit for gyrodrift compensation |
uint8_t DynamicStability; // PID limit for Attitude controller |
uint8_t UserParam5; // Wert : 0-250 |
uint8_t UserParam6; // Wert : 0-250 |
uint8_t UserParam7; // Wert : 0-250 |
uint8_t UserParam8; // Wert : 0-250 |
uint8_t J16Bitmask; // for the J16 Output |
uint8_t J16Timing; // for the J16 Output |
uint8_t J17Bitmask; // for the J17 Output |
uint8_t J17Timing; // for the J17 Output |
uint8_t NaviGpsModeControl; // Parameters for the Naviboard |
uint8_t NaviGpsGain; // overall gain for GPS-PID controller |
uint8_t NaviGpsP; // P gain for GPS-PID controller |
uint8_t NaviGpsI; // I gain for GPS-PID controller |
uint8_t NaviGpsD; // D gain for GPS-PID controller |
uint8_t NaviGpsPLimit; // P limit for GPS-PID controller |
uint8_t NaviGpsILimit; // I limit for GPS-PID controller |
uint8_t NaviGpsDLimit; // D limit for GPS-PID controller |
uint8_t NaviGpsACC; // ACC gain for GPS-PID controller |
uint8_t NaviGpsMinSat; // number of sattelites neccesary for GPS functions |
uint8_t NaviStickThreshold; // activation threshild for detection of manual stick movements |
uint8_t NaviWindCorrection; // streng of wind course correction |
uint8_t NaviSpeedCompensation; // D gain fefore position hold login |
uint8_t NaviOperatingRadius; // Radius limit in m around start position for GPS flights |
uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
uint8_t NaviPHLoginTime; // position hold logintimeout |
uint8_t ExternalControl; // for serial Control |
uint8_t BitConfig; // see upper defines for bitcoding |
uint8_t ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
uint8_t Reserved[4]; |
int8_t Name[12]; |
} paramset_t; |
#define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
extern paramset_t ParamSet; |
extern void ParamSet_Init(void); |
extern void ParamSet_ReadFromEEProm(uint8_t setnumber); |
extern void ParamSet_WriteToEEProm(uint8_t setnumber); |
extern uint8_t GetActiveParamSet(void); |
extern void SetActiveParamSet(uint8_t setnumber); |
extern uint8_t MixerTable_ReadFromEEProm(void); |
extern uint8_t MixerTable_WriteToEEProm(void); |
extern uint8_t GetParamByte(uint16_t param_id); |
extern void SetParamByte(uint16_t param_id, uint8_t value); |
extern uint16_t GetParamWord(uint16_t param_id); |
extern void SetParamWord(uint16_t param_id, uint16_t value); |
#endif //_EEPROM_H |
/branches/Nick666/V0.74d Code Redesign killagreg/fc.c |
---|
0,0 → 1,1663 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <stdlib.h> |
#include <avr/io.h> |
#include "main.h" |
#include "eeprom.h" |
#include "timer0.h" |
#include "analog.h" |
#include "fc.h" |
#include "uart0.h" |
#include "rc.h" |
#include "twimaster.h" |
#include "timer2.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 |
#define STICK_GAIN 4 |
#define CHECK_MIN_MAX(value, min, max) {if(value < min) value = min; else if(value > max) value = max;} |
// gyro readings |
int16_t GyroNick, GyroRoll, GyroYaw; |
// gyro bias |
int16_t BiasHiResGyroNick = 0, BiasHiResGyroRoll = 0, AdBiasGyroYaw = 0; |
// accelerations |
int16_t AccNick, AccRoll, AccTop; |
// neutral acceleration readings |
int16_t AdBiasAccNick = 0, AdBiasAccRoll = 0; |
volatile float AdBiasAccTop = 0; |
// the additive gyro rate corrections according to the axis coupling |
int16_t TrimNick, TrimRoll; |
// attitude gyro integrals |
int32_t IntegralGyroNick = 0,IntegralGyroNick2 = 0; |
int32_t IntegralGyroRoll = 0,IntegralGyroRoll2 = 0; |
int32_t IntegralGyroYaw = 0; |
int32_t ReadingIntegralGyroNick = 0, ReadingIntegralGyroNick2 = 0; |
int32_t ReadingIntegralGyroRoll = 0, ReadingIntegralGyroRoll2 = 0; |
int32_t ReadingIntegralGyroYaw = 0; |
int32_t MeanIntegralGyroNick; |
int32_t MeanIntegralGyroRoll; |
// attitude acceleration integrals |
int32_t MeanAccNick = 0, MeanAccRoll = 0; |
volatile int32_t ReadingIntegralTop = 0; |
// compass course |
int16_t CompassHeading = -1; // negative angle indicates invalid data. |
int16_t CompassCourse = -1; |
int16_t CompassOffCourse = 0; |
uint8_t CompassCalState = 0; |
uint8_t FunnelCourse = 0; |
uint16_t BadCompassHeading = 500; |
int32_t YawGyroHeading; // Yaw Gyro Integral supported by compass |
int16_t YawGyroDrift; |
int16_t NaviAccNick = 0, NaviAccRoll = 0, NaviCntAcc = 0; |
// MK flags |
uint16_t ModelIsFlying = 0; |
uint8_t volatile MKFlags = 0; |
int32_t TurnOver180Nick = 250000L, TurnOver180Roll = 250000L; |
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 / 33; |
int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
uint8_t RequiredMotors = 0; |
// stick values derived by rc channels readings |
int16_t StickNick = 0, StickRoll = 0, StickYaw = 0, StickGas = 0; |
int16_t GPSStickNick = 0, GPSStickRoll = 0; |
int16_t MaxStickNick = 0, MaxStickRoll = 0; |
// stick values derived by uart inputs |
int16_t ExternStickNick = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
int16_t ReadingHeight = 0; |
int16_t SetPointHeight = 0; |
int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionNick = 0; |
uint8_t LoopingNick = 0, LoopingRoll = 0; |
uint8_t LoopingLeft = 0, LoopingRight = 0, LoopingDown = 0, LoopingTop = 0; |
fc_param_t FCParam = {48,251,16,58,64,8,150,150,2,10,0,0,0,0,0,0,0,0,100,70,90,65,64,100,0,0,0}; |
/************************************************************************/ |
/* Filter for motor value smoothing */ |
/************************************************************************/ |
int16_t MotorSmoothing(int16_t newvalue, int16_t oldvalue) |
{ |
int16_t motor; |
if(newvalue > oldvalue) motor = (1 * (int16_t)oldvalue + newvalue) / 2; //mean of old and new |
else motor = newvalue - (oldvalue - newvalue) * 1; // 2 * new - old |
return(motor); |
} |
/************************************************************************/ |
/* Creates numbeeps beeps at the speaker */ |
/************************************************************************/ |
void Beep(uint8_t numbeeps) |
{ |
while(numbeeps--) |
{ |
if(MKFlags & MKFLAG_MOTOR_RUN) return; //auf keinen Fall bei laufenden Motoren! |
BeepTime = 100; // 0.1 second |
Delay_ms(250); // blocks 250 ms as pause to next beep, |
// this will block the flight control loop, |
// therefore do not use this function if motors are running |
} |
} |
/************************************************************************/ |
/* Neutral Readings */ |
/************************************************************************/ |
void SetNeutral(uint8_t AccAdjustment) |
{ |
uint8_t i; |
int32_t Sum_1, Sum_2 = 0, Sum_3; |
Servo_Off(); // disable servo output |
AdBiasAccNick = 0; |
AdBiasAccRoll = 0; |
AdBiasAccTop = 0; |
BiasHiResGyroNick = 0; |
BiasHiResGyroRoll = 0; |
AdBiasGyroYaw = 0; |
FCParam.AxisCoupling1 = 0; |
FCParam.AxisCoupling2 = 0; |
ExpandBaro = 0; |
// sample values with bias set to zero |
Delay_ms_Mess(100); |
if(BoardRelease == 13) SearchDacGyroOffset(); |
if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
{ |
if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
} |
// determine gyro bias by averaging (require no rotation movement) |
#define GYRO_BIAS_AVERAGE 32 |
Sum_1 = 0; |
Sum_2 = 0; |
Sum_3 = 0; |
for(i=0; i < GYRO_BIAS_AVERAGE; i++) |
{ |
Delay_ms_Mess(10); |
Sum_1 += AdValueGyroNick * HIRES_GYRO_AMPLIFY; |
Sum_2 += AdValueGyroRoll * HIRES_GYRO_AMPLIFY; |
Sum_3 += AdValueGyroYaw; |
} |
BiasHiResGyroNick = (int16_t)((Sum_1 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
BiasHiResGyroRoll = (int16_t)((Sum_2 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
AdBiasGyroYaw = (int16_t)((Sum_3 + GYRO_BIAS_AVERAGE / 2) / GYRO_BIAS_AVERAGE); |
if(AccAdjustment) |
{ |
// determine acc bias by averaging (require horizontal adjustment in nick and roll attitude) |
#define ACC_BIAS_AVERAGE 10 |
Sum_1 = 0; |
Sum_2 = 0; |
Sum_3 = 0; |
for(i=0; i < ACC_BIAS_AVERAGE; i++) |
{ |
Delay_ms_Mess(10); |
Sum_1 += AdValueAccNick; |
Sum_2 += AdValueAccRoll; |
Sum_3 += AdValueAccZ; |
} |
// use abs() to avoid negative bias settings because of adc sign flip in adc.c |
AdBiasAccNick = (int16_t)((abs(Sum_1) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
AdBiasAccRoll = (int16_t)((abs(Sum_2) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
AdBiasAccTop = (int16_t)((abs(Sum_3) + ACC_BIAS_AVERAGE / 2) / ACC_BIAS_AVERAGE); |
// Save ACC neutral settings to eeprom |
SetParamWord(PID_ACC_NICK, (uint16_t)AdBiasAccNick); |
SetParamWord(PID_ACC_ROLL, (uint16_t)AdBiasAccRoll); |
SetParamWord(PID_ACC_TOP, (uint16_t)AdBiasAccTop); |
} |
else // restore from eeprom |
{ |
AdBiasAccNick = (int16_t)GetParamWord(PID_ACC_NICK); |
AdBiasAccRoll = (int16_t)GetParamWord(PID_ACC_ROLL); |
AdBiasAccTop = (int16_t)GetParamWord(PID_ACC_TOP); |
} |
// setting acc bias values has an influence in the analog.c ISR |
// therefore run measurement for 100ms to achive stable readings |
Delay_ms_Mess(100); |
// reset acc averaging and integrals |
AccNick = ACC_AMPLIFY * (int32_t)AdValueAccNick; |
AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
AccTop = AdValueAccTop; |
ReadingIntegralTop = AdValueAccTop; |
// and gyro readings |
GyroNick = 0; |
GyroRoll = 0; |
GyroYaw = 0; |
// reset gyro integrals to acc guessing |
IntegralGyroNick = ParamSet.GyroAccFactor * (int32_t)AccNick; |
IntegralGyroRoll = ParamSet.GyroAccFactor * (int32_t)AccRoll; |
//ReadingIntegralGyroNick = IntegralGyroNick; |
//ReadingIntegralGyroRoll = IntegralGyroRoll; |
ReadingIntegralGyroNick2 = IntegralGyroNick; |
ReadingIntegralGyroRoll2 = IntegralGyroRoll; |
ReadingIntegralGyroYaw = 0; |
StartAirPressure = AirPressure; |
HeightD = 0; |
// update compass course to current heading |
CompassCourse = CompassHeading; |
// Inititialize YawGyroIntegral value with current compass heading |
YawGyroHeading = (int32_t)CompassHeading * GYRO_DEG_FACTOR; |
YawGyroDrift = 0; |
BeepTime = 50; |
TurnOver180Nick = ((int32_t) ParamSet.AngleTurnOverNick * 2500L) +15000L; |
TurnOver180Roll = ((int32_t) ParamSet.AngleTurnOverRoll * 2500L) +15000L; |
ExternHeightValue = 0; |
GPSStickNick = 0; |
GPSStickRoll = 0; |
MKFlags |= MKFLAG_CALIBRATE; |
FCParam.KalmanK = -1; |
FCParam.KalmanMaxDrift = 0; |
FCParam.KalmanMaxFusion = 32; |
Poti1 = PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110; |
Poti2 = PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110; |
Poti3 = PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110; |
Poti4 = PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110; |
Servo_On(); //enable servo output |
RC_Quality = 100; |
} |
/************************************************************************/ |
/* Averaging Measurement Readings */ |
/************************************************************************/ |
void Mean(void) |
{ |
int32_t tmpl = 0, tmpl2 = 0, tmp13 = 0, tmp14 = 0; |
int16_t FilterGyroNick, FilterGyroRoll; |
static int16_t Last_GyroRoll = 0, Last_GyroNick = 0; |
int16_t d2Nick, d2Roll; |
int32_t AngleNick, AngleRoll; |
int16_t CouplingNickRoll = 0, CouplingRollNick = 0; |
// Get bias free gyro readings |
GyroNick = HiResGyroNick / HIRES_GYRO_AMPLIFY; // unfiltered gyro rate |
FilterGyroNick = FilterHiResGyroNick / HIRES_GYRO_AMPLIFY; // use filtered gyro rate |
// handle rotation rates that violate adc ranges |
if(AdValueGyroNick < 15) GyroNick = -1000; |
if(AdValueGyroNick < 7) GyroNick = -2000; |
if(BoardRelease == 10) |
{ |
if(AdValueGyroNick > 1010) GyroNick = +1000; |
if(AdValueGyroNick > 1017) GyroNick = +2000; |
} |
else |
{ |
if(AdValueGyroNick > 2000) GyroNick = +1000; |
if(AdValueGyroNick > 2015) GyroNick = +2000; |
} |
GyroRoll = HiResGyroRoll / HIRES_GYRO_AMPLIFY; // unfiltered gyro rate |
FilterGyroRoll = FilterHiResGyroRoll / HIRES_GYRO_AMPLIFY; // use filtered gyro rate |
// handle rotation rates that violate adc ranges |
if(AdValueGyroRoll < 15) GyroRoll = -1000; |
if(AdValueGyroRoll < 7) GyroRoll = -2000; |
if(BoardRelease == 10) |
{ |
if(AdValueGyroRoll > 1010) GyroRoll = +1000; |
if(AdValueGyroRoll > 1017) GyroRoll = +2000; |
} |
else |
{ |
if(AdValueGyroRoll > 2000) GyroRoll = +1000; |
if(AdValueGyroRoll > 2015) GyroRoll = +2000; |
} |
GyroYaw = AdBiasGyroYaw - AdValueGyroYaw; |
// Acceleration Sensor |
// lowpass acc measurement and scale AccNick/AccRoll by a factor of ACC_AMPLIFY to have a better resolution |
AccNick = ((int32_t)AccNick * 3 + ((ACC_AMPLIFY * (int32_t)AdValueAccNick))) / 4L; |
AccRoll = ((int32_t)AccRoll * 3 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 4L; |
AccTop = ((int32_t)AccTop * 3 + ((int32_t)AdValueAccTop)) / 4L; |
// sum acc sensor readings for later averaging |
MeanAccNick += ACC_AMPLIFY * AdValueAccNick; |
MeanAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
NaviAccNick += AdValueAccNick; |
NaviAccRoll += AdValueAccRoll; |
NaviCntAcc++; |
// enable ADC to meassure next readings, before that point all variables should be read that are written by the ADC ISR |
ADC_Enable(); |
ADReady = 0; |
// limit angle readings for axis coupling calculations |
#define ANGLE_LIMIT 93000L // aprox. 93000/GYRO_DEG_FACTOR = 82 deg |
AngleNick = ReadingIntegralGyroNick; |
CHECK_MIN_MAX(AngleNick, -ANGLE_LIMIT, ANGLE_LIMIT); |
AngleRoll = ReadingIntegralGyroRoll; |
CHECK_MIN_MAX(AngleRoll, -ANGLE_LIMIT, ANGLE_LIMIT); |
// Yaw |
// calculate yaw gyro integral (~ to rotation angle) |
YawGyroHeading += GyroYaw; |
ReadingIntegralGyroYaw += GyroYaw; |
// Coupling fraction |
if(! LoopingNick && !LoopingRoll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
{ |
tmp13 = (FilterGyroRoll * AngleNick) / 2048L; |
tmp13 *= FCParam.AxisCoupling2; // 65 |
tmp13 /= 4096L; |
CouplingNickRoll = tmp13; |
tmp14 = (FilterGyroNick * AngleRoll) / 2048L; |
tmp14 *= FCParam.AxisCoupling2; // 65 |
tmp14 /= 4096L; |
CouplingRollNick = tmp14; |
tmp14 -= tmp13; |
YawGyroHeading += tmp14; |
if(!FCParam.AxisCouplingYawCorrection) ReadingIntegralGyroYaw -= tmp14 / 2; // force yaw |
tmpl = ((GyroYaw + tmp14) * AngleNick) / 2048L; |
tmpl *= FCParam.AxisCoupling1; |
tmpl /= 4096L; |
tmpl2 = ((GyroYaw + tmp14) * AngleRoll) / 2048L; |
tmpl2 *= FCParam.AxisCoupling1; |
tmpl2 /= 4096L; |
if(abs(GyroYaw > 64)) |
{ |
if(labs(tmpl) > 128 || labs(tmpl2) > 128) FunnelCourse = 1; |
} |
TrimNick = -tmpl2 + tmpl / 100L; |
TrimRoll = tmpl - tmpl2 / 100L; |
} |
else |
{ |
CouplingNickRoll = 0; |
CouplingRollNick = 0; |
TrimNick = 0; |
TrimRoll = 0; |
} |
// Yaw |
// limit YawGyroHeading proportional to 0° to 360° |
if(YawGyroHeading >= (360L * GYRO_DEG_FACTOR)) YawGyroHeading -= 360L * GYRO_DEG_FACTOR; // 360° Wrap |
if(YawGyroHeading < 0) YawGyroHeading += 360L * GYRO_DEG_FACTOR; |
// Roll |
ReadingIntegralGyroRoll2 += FilterGyroRoll + TrimRoll; |
ReadingIntegralGyroRoll += FilterGyroRoll + TrimRoll- AttitudeCorrectionRoll; |
if(ReadingIntegralGyroRoll > TurnOver180Roll) |
{ |
ReadingIntegralGyroRoll = -(TurnOver180Roll - 10000L); |
ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
} |
if(ReadingIntegralGyroRoll < -TurnOver180Roll) |
{ |
ReadingIntegralGyroRoll = (TurnOver180Roll - 10000L); |
ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
} |
// Nick |
ReadingIntegralGyroNick2 += FilterGyroNick + TrimNick; |
ReadingIntegralGyroNick += FilterGyroNick + TrimNick - AttitudeCorrectionNick; |
if(ReadingIntegralGyroNick > TurnOver180Nick) |
{ |
ReadingIntegralGyroNick = -(TurnOver180Nick - 25000L); |
ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
} |
if(ReadingIntegralGyroNick < -TurnOver180Nick) |
{ |
ReadingIntegralGyroNick = (TurnOver180Nick - 25000L); |
ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
} |
IntegralGyroYaw = ReadingIntegralGyroYaw; |
IntegralGyroNick = ReadingIntegralGyroNick; |
IntegralGyroRoll = ReadingIntegralGyroRoll; |
IntegralGyroNick2 = ReadingIntegralGyroNick2; |
IntegralGyroRoll2 = ReadingIntegralGyroRoll2; |
#define D_LIMIT 128 |
if(FCParam.GyroD) |
{ |
d2Nick = (HiResGyroNick - Last_GyroNick); // change of gyro rate |
Last_GyroNick = (Last_GyroNick + HiResGyroNick) / 2; |
CHECK_MIN_MAX(d2Nick, -D_LIMIT, D_LIMIT); |
GyroNick += (d2Nick * (int16_t)FCParam.GyroD) / 16; |
d2Roll = (HiResGyroRoll - Last_GyroRoll); // change of gyro rate |
Last_GyroRoll = (Last_GyroRoll + HiResGyroRoll) / 2; |
CHECK_MIN_MAX(d2Roll, -D_LIMIT, D_LIMIT); |
GyroRoll += (d2Roll * (int16_t)FCParam.GyroD) / 16; |
HiResGyroNick += (d2Nick * (int16_t)FCParam.GyroD); |
HiResGyroRoll += (d2Roll * (int16_t)FCParam.GyroD); |
} |
// Increase the roll/nick rate virtually proportional to the coupling to suppress a faster rotation |
if(FilterGyroNick > 0) TrimNick += ((int32_t)abs(CouplingRollNick) * FCParam.AxisCouplingYawCorrection) / 64L; |
else TrimNick -= ((int32_t)abs(CouplingRollNick) * FCParam.AxisCouplingYawCorrection) / 64L; |
if(FilterGyroRoll > 0) TrimRoll += ((int32_t)abs(CouplingNickRoll) * FCParam.AxisCouplingYawCorrection) / 64L; |
else TrimRoll -= ((int32_t)abs(CouplingNickRoll) * FCParam.AxisCouplingYawCorrection) / 64L; |
// increase the nick/roll rates virtually from the threshold of 245 to slow down higher rotation rates |
if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && ! LoopingNick && !LoopingRoll) |
{ |
if(FilterGyroNick > 256) GyroNick += 1 * (FilterGyroNick - 256); |
else if(FilterGyroNick < -256) GyroNick += 1 * (FilterGyroNick + 256); |
if(FilterGyroRoll > 256) GyroRoll += 1 * (FilterGyroRoll - 256); |
else if(FilterGyroRoll < -256) GyroRoll += 1 * (FilterGyroRoll + 256); |
} |
} |
/************************************************************************/ |
/* Transmit Motor Data via I2C */ |
/************************************************************************/ |
void SendMotorData(void) |
{ |
uint8_t i; |
if(!(MKFlags & MKFLAG_MOTOR_RUN)) |
{ |
MKFlags &= ~(MKFLAG_FLY|MKFLAG_START); // clear flag FLY and START if motors are off |
for(i = 0; i < MAX_MOTORS; i++) |
{ |
if(!MotorTest_Active) Motor[i].SetPoint = 0; |
else Motor[i].SetPoint = MotorTest[i]; |
} |
if(MotorTest_Active) MotorTest_Active--; |
} |
DebugOut.Analog[12] = Motor[0].SetPoint; // Front |
DebugOut.Analog[13] = Motor[1].SetPoint; // Rear |
DebugOut.Analog[14] = Motor[3].SetPoint; // Left |
DebugOut.Analog[15] = Motor[2].SetPoint; // Right |
//Start I2C Interrupt Mode |
I2C_Start(TWI_STATE_MOTOR_TX); |
} |
/************************************************************************/ |
/* Map the parameter to poti values */ |
/************************************************************************/ |
void ParameterMapping(void) |
{ |
if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
// else the last updated values are used |
{ |
//update poti values by rc-signals |
#define CHK_POTI_MM(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
#define CHK_POTI(b,a) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a;} |
CHK_POTI(FCParam.MaxHeight,ParamSet.MaxHeight); |
CHK_POTI_MM(FCParam.HeightD,ParamSet.HeightD,0,100); |
CHK_POTI_MM(FCParam.HeightP,ParamSet.HeightP,0,100); |
CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect); |
CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect); |
CHK_POTI_MM(FCParam.GyroP,ParamSet.GyroP,10,255); |
CHK_POTI(FCParam.GyroI,ParamSet.GyroI); |
CHK_POTI(FCParam.GyroD,ParamSet.GyroD); |
CHK_POTI(FCParam.IFactor,ParamSet.IFactor); |
CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1); |
CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2); |
CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3); |
CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4); |
CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5); |
CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6); |
CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7); |
CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8); |
CHK_POTI(FCParam.ServoNickControl,ParamSet.ServoNickControl); |
CHK_POTI(FCParam.LoopGasLimit,ParamSet.LoopGasLimit); |
CHK_POTI(FCParam.AxisCoupling1,ParamSet.AxisCoupling1); |
CHK_POTI(FCParam.AxisCoupling2,ParamSet.AxisCoupling2); |
CHK_POTI(FCParam.AxisCouplingYawCorrection,ParamSet.AxisCouplingYawCorrection); |
CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability); |
CHK_POTI_MM(FCParam.J16Timing,ParamSet.J16Timing,1,255); |
CHK_POTI_MM(FCParam.J17Timing,ParamSet.J17Timing,1,255); |
#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.NaviGpsPLimit,ParamSet.NaviGpsPLimit); |
CHK_POTI(FCParam.NaviAngleLimitation,ParamSet.NaviAngleLimitation); |
#endif |
CHK_POTI(FCParam.ExternalControl,ParamSet.ExternalControl); |
Ki = 10300 / ( FCParam.IFactor + 1 ); |
} |
} |
void SetCompassCalState(void) |
{ |
static uint8_t stick = 1; |
// if nick is centered or top set stick to zero |
if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -20) stick = 0; |
// if nick is down trigger to next cal state |
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) && !stick) |
{ |
stick = 1; |
CompassCalState++; |
if(CompassCalState < 5) Beep(CompassCalState); |
else BeepTime = 1000; |
} |
} |
/************************************************************************/ |
/* MotorControl */ |
/************************************************************************/ |
void MotorControl(void) |
{ |
int16_t h, tmp_int; |
// Mixer Fractions that are combined for Motor Control |
int16_t YawMixFraction, GasMixFraction, NickMixFraction, RollMixFraction; |
// PID controller variables |
int16_t DiffNick, DiffRoll; |
int16_t PDPartNick, PDPartRoll, PDPartYaw, PPartNick, PPartRoll; |
static int32_t IPartNick = 0, IPartRoll = 0; |
static int32_t SetPointYaw = 0; |
static int32_t IntegralGyroNickError = 0, IntegralGyroRollError = 0; |
static int32_t CorrectionNick, CorrectionRoll; |
static uint16_t RcLostTimer; |
static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
static uint8_t HeightControlActive = 0; |
static int16_t HeightControlGas = 0; |
static int8_t TimerDebugOut = 0; |
static uint16_t UpdateCompassCourse = 0; |
// high resolution motor values for smoothing of PID motor outputs |
static int16_t MotorValue[MAX_MOTORS]; |
uint8_t i; |
Mean(); |
GRN_ON; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// determine gas value |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
GasMixFraction = StickGas; |
if(GasMixFraction < ParamSet.GasMin + 10) GasMixFraction = ParamSet.GasMin + 10; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// RC-signal is bad |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
{ |
if(!PcAccess) // if also no PC-Access via UART |
{ |
if(BeepModulation == 0xFFFF) |
{ |
BeepTime = 15000; // 1.5 seconds |
BeepModulation = 0x0C00; |
} |
} |
if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
else // rc lost countdown finished |
{ |
MKFlags &= ~(MKFLAG_MOTOR_RUN|MKFLAG_EMERGENCY_LANDING); // clear motor run flag that stop the motors in SendMotorData() |
} |
RED_ON; // set red led |
if(ModelIsFlying > 1000) // wahrscheinlich in der Luft --> langsam absenken |
{ |
GasMixFraction = ParamSet.EmergencyGas; // set emergency gas |
MKFlags |= (MKFLAG_EMERGENCY_LANDING); // ser flag fpr emergency landing |
// set neutral rc inputs |
PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
PPM_in[ParamSet.ChannelAssignment[CH_NICK]] = 0; |
PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
} |
else MKFlags &= ~(MKFLAG_MOTOR_RUN); // clear motor run flag that stop the motors in SendMotorData() |
} // eof RC_Quality < 120 |
else |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// RC-signal is good |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(RC_Quality > 140) |
{ |
MKFlags &= ~(MKFLAG_EMERGENCY_LANDING); // clear flag for emergency landing |
// reset emergency timer |
RcLostTimer = ParamSet.EmergencyGasDuration * 50; |
if(GasMixFraction > 40 && (MKFlags & MKFLAG_MOTOR_RUN) ) |
{ |
if(ModelIsFlying < 0xFFFF) ModelIsFlying++; |
} |
if(ModelIsFlying < 256) |
{ |
IPartNick = 0; |
IPartRoll = 0; |
StickYaw = 0; |
if(ModelIsFlying == 250) |
{ |
UpdateCompassCourse = 1; |
ReadingIntegralGyroYaw = 0; |
SetPointYaw = 0; |
} |
} |
else MKFlags |= (MKFLAG_FLY); // set fly flag |
if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
//PPM24-Extension |
if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
//limit poti values |
if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
//PPM24-Extension |
if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
// if motors are off and the gas stick is in the upper position |
if((PPM_in[ParamSet.ChannelAssignment[CH_GAS]] > 80) && !(MKFlags & MKFLAG_MOTOR_RUN) ) |
{ |
// and if the yaw stick is in the leftmost position |
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// calibrate the neutral readings of all attitude sensors |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
{ |
// gas/yaw joystick is top left |
// _________ |
// |x | |
// | | |
// | | |
// | | |
// | | |
// ¯¯¯¯¯¯¯¯¯ |
if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
{ |
delay_neutral = 0; |
GRN_OFF; |
ModelIsFlying = 0; |
// check roll/nick stick position |
// if nick stick is top or roll stick is left or right --> change parameter setting |
// according to roll/nick stick position |
if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
{ |
uint8_t setting = 1; // default |
// nick/roll joystick |
// _________ |
// |2 3 4| |
// | | |
// |1 5| |
// | | |
// | | |
// ¯¯¯¯¯¯¯¯¯ |
// roll stick leftmost and nick stick centered --> setting 1 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 1; |
// roll stick leftmost and nick stick topmost --> setting 2 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 2; |
// roll stick centered an nick stick topmost --> setting 3 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 3; |
// roll stick rightmost and nick stick topmost --> setting 4 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > 70) setting = 4; |
// roll stick rightmost and nick stick centered --> setting 5 |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < 70) setting = 5; |
// update active parameter set in eeprom |
SetActiveParamSet(setting); |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
SetNeutral(NO_ACC_CALIB); |
Beep(GetActiveParamSet()); |
} |
else |
{ |
if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
{ |
// if roll stick is centered and nick stick is down |
if (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < 30 && PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -70) |
{ |
// nick/roll joystick |
// _________ |
// | | |
// | | |
// | | |
// | | |
// | x | |
// ¯¯¯¯¯¯¯¯¯ |
// enable calibration state of compass |
CompassCalState = 1; |
BeepTime = 1000; |
} |
else // nick and roll are centered |
{ |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
SetNeutral(NO_ACC_CALIB); |
Beep(GetActiveParamSet()); |
} |
} |
else // nick and roll are centered |
{ |
ParamSet_ReadFromEEProm(GetActiveParamSet()); |
SetNeutral(NO_ACC_CALIB); |
Beep(GetActiveParamSet()); |
} |
} |
} |
} |
// and if the yaw stick is in the rightmost position |
// save the ACC neutral setting to eeprom |
else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
{ |
// gas/yaw joystick is top right |
// _________ |
// | x| |
// | | |
// | | |
// | | |
// | | |
// ¯¯¯¯¯¯¯¯¯ |
if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
{ |
delay_neutral = 0; |
GRN_OFF; |
ModelIsFlying = 0; |
SetNeutral(ACC_CALIB); |
Beep(GetActiveParamSet()); |
} |
} |
else delay_neutral = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// gas stick is down |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < -85) |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
{ |
// gas/yaw joystick is bottom right |
// _________ |
// | | |
// | | |
// | | |
// | | |
// | x| |
// ¯¯¯¯¯¯¯¯¯ |
// Start Motors |
if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
{ |
delay_startmotors = 200; // do not repeat if once executed |
ModelIsFlying = 1; |
MKFlags |= (MKFLAG_MOTOR_RUN|MKFLAG_START); // set flag RUN and START |
SetPointYaw = 0; |
ReadingIntegralGyroYaw = 0; |
ReadingIntegralGyroNick = ParamSet.GyroAccFactor * (int32_t)AccNick; |
ReadingIntegralGyroRoll = ParamSet.GyroAccFactor * (int32_t)AccRoll; |
ReadingIntegralGyroNick2 = IntegralGyroNick; |
ReadingIntegralGyroRoll2 = IntegralGyroRoll; |
IPartNick = 0; |
IPartRoll = 0; |
} |
} |
else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
{ |
// gas/yaw joystick is bottom left |
// _________ |
// | | |
// | | |
// | | |
// | | |
// |x | |
// ¯¯¯¯¯¯¯¯¯ |
// Stop Motors |
if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
{ |
delay_stopmotors = 200; // do not repeat if once executed |
ModelIsFlying = 0; |
MKFlags &= ~(MKFLAG_MOTOR_RUN); |
} |
} |
else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
} |
// remapping of paameters only if the signal rc-sigbnal conditions are good |
} // eof RC_Quality > 150 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// new values from RC |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!NewPpmData-- || (MKFlags & MKFLAG_EMERGENCY_LANDING) ) // NewData = 0 means new data from RC |
{ |
static int16_t stick_nick = 0, stick_roll = 0; |
ParameterMapping(); // remapping params (online poti replacement) |
// calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
stick_nick = (stick_nick * 3 + PPM_in[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickP) / 4; |
stick_nick += PPM_diff[ParamSet.ChannelAssignment[CH_NICK]] * ParamSet.StickD; |
StickNick = stick_nick - GPSStickNick; |
stick_roll = (stick_roll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickP) / 4; |
stick_roll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.StickD; |
StickRoll = stick_roll - GPSStickRoll; |
// mapping of yaw |
StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
// (range of -2 .. 2 is set to zero, to avoid unwanted yaw trimming on compass correction) |
if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
{ |
if (StickYaw > 2) StickYaw-= 2; |
else if (StickYaw< -2) StickYaw += 2; |
else StickYaw = 0; |
} |
// mapping of gas |
StickGas = PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + 120;// shift to positive numbers |
// update gyro control loop factors |
GyroPFactor = FCParam.GyroP + 10; |
GyroIFactor = FCParam.GyroI; |
GyroYawPFactor = FCParam.GyroP + 10; |
GyroYawIFactor = FCParam.GyroI; |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//+ Analog control via serial communication |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ExternControl.Config & 0x01 && FCParam.ExternalControl > 128) |
{ |
StickNick += (int16_t) ExternControl.Nick * (int16_t) ParamSet.StickP; |
StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.StickP; |
StickYaw += ExternControl.Yaw; |
ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
} |
if(StickGas < 0) StickGas = 0; |
// disable I part of gyro control feedback |
if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) GyroIFactor = 0; |
// update max stick positions for nick and roll |
if(abs(StickNick / STICK_GAIN) > MaxStickNick) |
{ |
MaxStickNick = abs(StickNick)/STICK_GAIN; |
if(MaxStickNick > 100) MaxStickNick = 100; |
} |
else MaxStickNick--; |
if(abs(StickRoll / STICK_GAIN) > MaxStickRoll) |
{ |
MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
if(MaxStickRoll > 100) MaxStickRoll = 100; |
} |
else MaxStickRoll--; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Looping? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_LEFT) LoopingLeft = 1; |
else |
{ |
if(LoopingLeft) // Hysteresis |
{ |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) LoopingLeft = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_RIGHT) LoopingRight = 1; |
else |
{ |
if(LoopingRight) // Hysteresis |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) LoopingRight = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_UP) LoopingTop = 1; |
else |
{ |
if(LoopingTop) // Hysteresis |
{ |
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) LoopingTop = 0; |
} |
} |
if((PPM_in[ParamSet.ChannelAssignment[CH_NICK]] < -ParamSet.LoopThreshold) && ParamSet.BitConfig & CFG_LOOP_DOWN) LoopingDown = 1; |
else |
{ |
if(LoopingDown) // Hysteresis |
{ |
if(PPM_in[ParamSet.ChannelAssignment[CH_NICK]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) LoopingDown = 0; |
} |
} |
if(LoopingLeft || LoopingRight) LoopingRoll = 1; else LoopingRoll = 0; |
if(LoopingTop || LoopingDown) { LoopingNick = 1; LoopingRoll = 0; LoopingLeft = 0; LoopingRight = 0;} else LoopingNick = 0; |
} // End of new RC-Values or Emergency Landing |
if(LoopingRoll || LoopingNick) |
{ |
if(GasMixFraction > ParamSet.LoopGasLimit) GasMixFraction = ParamSet.LoopGasLimit; |
FunnelCourse = 1; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// in case of emergency landing |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// set all inputs to save values |
if(MKFlags & MKFLAG_EMERGENCY_LANDING) |
{ |
StickYaw = 0; |
StickNick = 0; |
StickRoll = 0; |
GyroPFactor = 90; |
GyroIFactor = 120; |
GyroYawPFactor = 90; |
GyroYawIFactor = 120; |
LoopingRoll = 0; |
LoopingNick = 0; |
MaxStickNick = 0; |
MaxStickRoll = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Trim Gyro-Integrals to ACC-Signals |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define BALANCE_NUMBER 256L |
// sum for averaging |
MeanIntegralGyroNick += IntegralGyroNick; |
MeanIntegralGyroRoll += IntegralGyroRoll; |
if( LoopingNick || LoopingRoll) // if looping in any direction |
{ |
// reset averaging for acc and gyro integral as well as gyro integral acc correction |
MeasurementCounter = 0; |
MeanAccNick = 0; |
MeanAccRoll = 0; |
MeanIntegralGyroNick = 0; |
MeanIntegralGyroRoll = 0; |
ReadingIntegralGyroNick2 = ReadingIntegralGyroNick; |
ReadingIntegralGyroRoll2 = ReadingIntegralGyroRoll; |
AttitudeCorrectionNick = 0; |
AttitudeCorrectionRoll = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(! LoopingNick && !LoopingRoll && ( (AdValueAccZ > 512) || (MKFlags & MKFLAG_MOTOR_RUN) ) ) // if not lopping in any direction |
{ |
int32_t tmp_long, tmp_long2; |
if( FCParam.KalmanK != -1) |
{ |
// determine the deviation of gyro integral from averaged acceleration sensor |
tmp_long = (int32_t)(IntegralGyroNick / ParamSet.GyroAccFactor - (int32_t)AccNick); |
tmp_long = (tmp_long * FCParam.KalmanK) / (32 * 16); |
tmp_long2 = (int32_t)(IntegralGyroRoll / ParamSet.GyroAccFactor - (int32_t)AccRoll); |
tmp_long2 = (tmp_long2 * FCParam.KalmanK) / (32 * 16); |
if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
{ |
tmp_long /= 2; |
tmp_long2 /= 2; |
} |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
// limit correction effect |
if(tmp_long > (int32_t)FCParam.KalmanMaxFusion) tmp_long = (int32_t)FCParam.KalmanMaxFusion; |
if(tmp_long < -(int32_t)FCParam.KalmanMaxFusion) tmp_long =-(int32_t)FCParam.KalmanMaxFusion; |
if(tmp_long2 > (int32_t)FCParam.KalmanMaxFusion) tmp_long2 = (int32_t)FCParam.KalmanMaxFusion; |
if(tmp_long2 <-(int32_t)FCParam.KalmanMaxFusion) tmp_long2 =-(int32_t)FCParam.KalmanMaxFusion; |
} |
else |
{ |
// determine the deviation of gyro integral from acceleration sensor |
tmp_long = (int32_t)(IntegralGyroNick / ParamSet.GyroAccFactor - (int32_t)AccNick); |
tmp_long /= 16; |
tmp_long2 = (int32_t)(IntegralGyroRoll / ParamSet.GyroAccFactor - (int32_t)AccRoll); |
tmp_long2 /= 16; |
if((MaxStickNick > 64) || (MaxStickRoll > 64)) // reduce effect during stick commands |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
{ |
tmp_long /= 3; |
tmp_long2 /= 3; |
} |
#define BALANCE 32 |
// limit correction effect |
CHECK_MIN_MAX(tmp_long, -BALANCE, BALANCE); |
CHECK_MIN_MAX(tmp_long2, -BALANCE, BALANCE); |
} |
// correct current readings |
ReadingIntegralGyroNick -= tmp_long; |
ReadingIntegralGyroRoll -= tmp_long2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// MeasurementCounter is incremented in the isr of analog.c |
if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
{ |
static int16_t cnt = 0; |
static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
static int32_t MeanIntegralGyroNick_old, MeanIntegralGyroRoll_old; |
// if not lopping in any direction (this should be always the case, |
// because the Measurement counter is reset to 0 if looping in any direction is active.) |
if(! LoopingNick && !LoopingRoll && !FunnelCourse && ParamSet.DriftComp) |
{ |
// Calculate mean value of the gyro integrals |
MeanIntegralGyroNick /= BALANCE_NUMBER; |
MeanIntegralGyroRoll /= BALANCE_NUMBER; |
// Calculate mean of the acceleration values scaled to the gyro integrals |
MeanAccNick = (ParamSet.GyroAccFactor * MeanAccNick) / BALANCE_NUMBER; |
MeanAccRoll = (ParamSet.GyroAccFactor * MeanAccRoll) / BALANCE_NUMBER; |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
// Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
IntegralGyroNickError = (int32_t)(MeanIntegralGyroNick - (int32_t)MeanAccNick); |
CorrectionNick = IntegralGyroNickError / ParamSet.GyroAccTrim; |
AttitudeCorrectionNick = CorrectionNick / BALANCE_NUMBER; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
// Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
IntegralGyroRollError = (int32_t)(MeanIntegralGyroRoll - (int32_t)MeanAccRoll); |
CorrectionRoll = IntegralGyroRollError / ParamSet.GyroAccTrim; |
AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
if(((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) && (FCParam.KalmanK == -1) ) |
{ |
AttitudeCorrectionNick /= 2; |
AttitudeCorrectionRoll /= 2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gyro-Drift ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// deviation of gyro nick integral (IntegralGyroNick is corrected by averaged acc sensor) |
IntegralGyroNickError = IntegralGyroNick2 - IntegralGyroNick; |
ReadingIntegralGyroNick2 -= IntegralGyroNickError; |
// deviation of gyro nick integral (IntegralGyroNick is corrected by averaged acc sensor) |
IntegralGyroRollError = IntegralGyroRoll2 - IntegralGyroRoll; |
ReadingIntegralGyroRoll2 -= IntegralGyroRollError; |
if(ParamSet.DriftComp) |
{ |
if(YawGyroDrift > BALANCE_NUMBER/2) AdBiasGyroYaw++; |
if(YawGyroDrift < -BALANCE_NUMBER/2) AdBiasGyroYaw--; |
} |
YawGyroDrift = 0; |
#define ERROR_LIMIT0 (BALANCE_NUMBER / 2) |
#define ERROR_LIMIT1 (BALANCE_NUMBER * 2) |
#define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
#define MOVEMENT_LIMIT 20000 |
// Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1; |
if(IntegralGyroNickError > ERROR_LIMIT1) cnt = 4; |
CorrectionNick = 0; |
if((labs(MeanIntegralGyroNick_old - MeanIntegralGyroNick) < MOVEMENT_LIMIT) || (FCParam.KalmanMaxDrift > 3 * 8)) |
{ |
if(IntegralGyroNickError > ERROR_LIMIT2) |
{ |
if(last_n_p) |
{ |
cnt += labs(IntegralGyroNickError) / (ERROR_LIMIT2 / 8); |
CorrectionNick = IntegralGyroNickError / 8; |
if(CorrectionNick > 5000) CorrectionNick = 5000; |
AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
} |
else last_n_p = 1; |
} |
else last_n_p = 0; |
if(IntegralGyroNickError < -ERROR_LIMIT2) |
{ |
if(last_n_n) |
{ |
cnt += labs(IntegralGyroNickError) / (ERROR_LIMIT2 / 8); |
CorrectionNick = IntegralGyroNickError / 8; |
if(CorrectionNick < -5000) CorrectionNick = -5000; |
AttitudeCorrectionNick += CorrectionNick / BALANCE_NUMBER; |
} |
else last_n_n = 1; |
} |
else last_n_n = 0; |
} |
else |
{ |
cnt = 0; |
BadCompassHeading = 1000; |
} |
if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
if(FCParam.KalmanMaxDrift) if(cnt > FCParam.KalmanMaxDrift) cnt = FCParam.KalmanMaxDrift; |
// correct Gyro Offsets |
if(IntegralGyroNickError > ERROR_LIMIT0) BiasHiResGyroNick += cnt; |
if(IntegralGyroNickError < -ERROR_LIMIT0) BiasHiResGyroNick -= cnt; |
// Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
cnt = 1; |
if(IntegralGyroRollError > ERROR_LIMIT1) cnt = 4; |
CorrectionRoll = 0; |
if((labs(MeanIntegralGyroRoll_old - MeanIntegralGyroRoll) < MOVEMENT_LIMIT) || (FCParam.KalmanMaxDrift > 3 * 8)) |
{ |
if(IntegralGyroRollError > ERROR_LIMIT2) |
{ |
if(last_r_p) |
{ |
cnt += labs(IntegralGyroRollError) / (ERROR_LIMIT2 / 8); |
CorrectionRoll = IntegralGyroRollError / 8; |
if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
} |
else last_r_p = 1; |
} |
else last_r_p = 0; |
if(IntegralGyroRollError < -ERROR_LIMIT2) |
{ |
if(last_r_n) |
{ |
cnt += labs(IntegralGyroRollError) / (ERROR_LIMIT2 / 8); |
CorrectionRoll = IntegralGyroRollError / 8; |
if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
} |
else last_r_n = 1; |
} |
else last_r_n = 0; |
} |
else |
{ |
cnt = 0; |
BadCompassHeading = 1000; |
} |
// correct Gyro Offsets |
if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
if(FCParam.KalmanMaxDrift) if(cnt > FCParam.KalmanMaxDrift) cnt = FCParam.KalmanMaxDrift; |
if(IntegralGyroRollError > ERROR_LIMIT0) BiasHiResGyroRoll += cnt; |
if(IntegralGyroRollError < -ERROR_LIMIT0) BiasHiResGyroRoll -= cnt; |
} |
else // looping is active |
{ |
AttitudeCorrectionRoll = 0; |
AttitudeCorrectionNick = 0; |
FunnelCourse = 0; |
} |
// if GyroIFactor == 0 , for example at Heading Hold, ignore attitude correction |
if(!GyroIFactor) |
{ |
AttitudeCorrectionRoll = 0; |
AttitudeCorrectionNick = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MeanIntegralGyroNick_old = MeanIntegralGyroNick; |
MeanIntegralGyroRoll_old = MeanIntegralGyroRoll; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// reset variables used for next averaging |
MeanAccNick = 0; |
MeanAccRoll = 0; |
MeanIntegralGyroNick = 0; |
MeanIntegralGyroRoll = 0; |
MeasurementCounter = 0; |
} // end of averaging |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Yawing |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(abs(StickYaw) > 15 ) // yaw stick is activated |
{ |
BadCompassHeading = 250; //1000; |
if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) |
{ |
UpdateCompassCourse = 1; |
} |
} |
// exponential stick sensitivity in yawring rate |
tmp_int = (int32_t) ParamSet.StickYawP * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
tmp_int += (ParamSet.StickYawP * StickYaw) / 4; |
SetPointYaw = tmp_int; |
// trimm drift of ReadingIntegralGyroYaw with SetPointYaw(StickYaw) |
ReadingIntegralGyroYaw -= tmp_int; |
// limit the effect |
CHECK_MIN_MAX(ReadingIntegralGyroYaw, -50000, 50000) |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Compass |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// compass code is used if Compass option is selected |
if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
{ |
int16_t w, v, r,correction,error; |
if(CompassCalState && !(MKFlags & MKFLAG_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); |
if(v > w) w = v; |
correction = w / 8 + 1; |
// calculate the deviation of the yaw gyro heading and the compass heading |
if (CompassHeading < 0) error = 0; // disable yaw drift compensation if compass heading is undefined |
else error = ((540 + CompassHeading - (YawGyroHeading / GYRO_DEG_FACTOR)) % 360) - 180; |
if(abs(GyroYaw) > 128) // spinning fast |
{ |
error = 0; |
} |
if(!BadCompassHeading && w < 35) //w < 25) |
{ |
YawGyroDrift += error; |
if(UpdateCompassCourse) |
{ |
//BeepTime = 200; |
YawGyroHeading = (int32_t)CompassHeading * GYRO_DEG_FACTOR; |
CompassCourse = (int16_t)(YawGyroHeading / GYRO_DEG_FACTOR); |
UpdateCompassCourse = 0; |
} |
} |
YawGyroHeading += (error * 8) / correction; |
w = (w * FCParam.CompassYawEffect) / 32; |
w = FCParam.CompassYawEffect - w; |
if(w >= 0) |
{ |
if(!BadCompassHeading) |
{ |
v = 64 + (MaxStickNick + MaxStickRoll) / 8; |
// calc course deviation |
r = ((540 + (YawGyroHeading / GYRO_DEG_FACTOR) - CompassCourse) % 360) - 180; |
v = (r * w) / v; // align to compass course |
// limit yaw rate |
w = 3 * FCParam.CompassYawEffect; |
if (v > w) v = w; |
else if (v < -w) v = -w; |
ReadingIntegralGyroYaw += v; |
} |
else |
{ // wait a while |
BadCompassHeading--; |
} |
} |
else |
{ // ignore compass at extreme attitudes for a while |
BadCompassHeading = 500; |
} |
} |
} |
#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// GPS |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
{ |
GPS_Main(); |
MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); |
} |
else |
{ |
GPSStickNick = 0; |
GPSStickRoll = 0; |
} |
#endif |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugwerte zuordnen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!TimerDebugOut--) |
{ |
TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
DebugOut.Analog[0] = (10 * IntegralGyroNick) / GYRO_DEG_FACTOR; // in 0.1 deg |
DebugOut.Analog[1] = (10 * IntegralGyroRoll) / GYRO_DEG_FACTOR; // in 0.1 deg |
DebugOut.Analog[2] = (10 * AccNick) / ACC_DEG_FACTOR; // in 0.1 deg |
DebugOut.Analog[3] = (10 * AccRoll) / ACC_DEG_FACTOR; // in 0.1 deg |
DebugOut.Analog[4] = GyroYaw; |
DebugOut.Analog[5] = ReadingHeight; |
DebugOut.Analog[6] = (ReadingIntegralTop / 512); |
DebugOut.Analog[8] = CompassHeading; |
DebugOut.Analog[9] = UBat; |
DebugOut.Analog[10] = uiCpuLoad;//RC_Quality; |
DebugOut.Analog[11] = uiCtrCpuOverload;//YawGyroHeading / GYRO_DEG_FACTOR; |
DebugOut.Analog[19] = YawGyroDrift;//CompassCalState; |
// DebugOut.Analog[24] = GyroNick/2; |
// DebugOut.Analog[25] = GyroRoll/2; |
DebugOut.Analog[27] = (int16_t)FCParam.KalmanMaxDrift; |
// DebugOut.Analog[28] = (int16_t)FCParam.KalmanMaxFusion; |
DebugOut.Analog[30] = GPSStickNick; |
DebugOut.Analog[31] = GPSStickRoll; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define TRIM_LIMIT 200 |
CHECK_MIN_MAX(TrimNick, -TRIM_LIMIT, TRIM_LIMIT); |
CHECK_MIN_MAX(TrimRoll, -TRIM_LIMIT, TRIM_LIMIT); |
if(FunnelCourse) |
{ |
IPartNick = 0; |
IPartRoll = 0; |
} |
if(! LoopingNick) |
{ |
PPartNick = (IntegralGyroNick * GyroIFactor) / (44000 / STICK_GAIN); // P-Part |
} |
else |
{ |
PPartNick = 0; |
} |
PDPartNick = PPartNick + (int32_t)((int32_t)GyroNick * GyroPFactor + (int32_t)TrimNick * 128L) / (256L / STICK_GAIN); // +D-Part |
if(!LoopingRoll) |
{ |
PPartRoll = (IntegralGyroRoll * GyroIFactor) / (44000 / STICK_GAIN); // P-Part |
} |
else |
{ |
PPartRoll = 0; |
} |
PDPartRoll = PPartRoll + (int32_t)((int32_t)GyroRoll * GyroPFactor + (int32_t)TrimRoll * 128L) / (256L / STICK_GAIN); // +D-Part |
PDPartYaw = (int32_t)(GyroYaw * 2 * (int32_t)GyroYawPFactor) / (256L / STICK_GAIN) + (int32_t)(IntegralGyroYaw * GyroYawIFactor) / (2 * (44000 / STICK_GAIN)); |
//DebugOut.Analog[21] = PDPartNick; |
//DebugOut.Analog[22] = PDPartRoll; |
// limit control feedback |
#define SENSOR_LIMIT (4096 * 4) |
CHECK_MIN_MAX(PDPartNick, -SENSOR_LIMIT, SENSOR_LIMIT); |
CHECK_MIN_MAX(PDPartRoll, -SENSOR_LIMIT, SENSOR_LIMIT); |
CHECK_MIN_MAX(PDPartYaw, -SENSOR_LIMIT, SENSOR_LIMIT); |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// all BL-Ctrl connected? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(MissingMotor) |
{ |
// 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; // reduce gas to min to avoid lift of |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Height Control |
// The height control algorithm reduces the gas but does not increase the gas. |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
GasMixFraction *= STICK_GAIN; |
// if height control is activated and no emergency landing is active |
if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && !(MKFlags & MKFLAG_EMERGENCY_LANDING) ) |
{ |
int tmp_int; |
static uint8_t delay = 100; |
// if height control is activated by an rc channel |
if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
{ // check if parameter is less than activation threshold |
if( |
( (ParamSet.BitConfig & CFG_HEIGHT_3SWITCH) && ( (FCParam.MaxHeight > 80) && (FCParam.MaxHeight < 140) ) )|| // for 3-state switch height control is only disabled in center position |
(!(ParamSet.BitConfig & CFG_HEIGHT_3SWITCH) && (FCParam.MaxHeight < 50) ) // for 2-State switch height control is disabled in lower position |
) |
{ //hight control not active |
if(!delay--) |
{ |
// measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
if( (ReadingAirPressure > 1000) && (OCR0A < 255) ) |
{ // increase offset |
if(OCR0A < 244) |
{ |
ExpandBaro -= 10; |
OCR0A = PressureSensorOffset - ExpandBaro; |
} |
else |
{ |
OCR0A = 254; |
} |
BeepTime = 300; |
delay = 250; |
} |
// measurement of air pressure close to lower limit and |
else if( (ReadingAirPressure < 100) && (OCR0A > 1) ) |
{ // decrease offset |
if(OCR0A > 10) |
{ |
ExpandBaro += 10; |
OCR0A = PressureSensorOffset - ExpandBaro; |
} |
else |
{ |
OCR0A = 1; |
} |
BeepTime = 300; |
delay = 250; |
} |
else |
{ |
SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
HeightControlActive = 0; // disable height control |
delay = 1; |
} |
} |
} |
else |
{ //hight control not active |
HeightControlActive = 1; // enable height control |
delay = 200; |
} |
} |
else // no switchable height control |
{ |
SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
HeightControlActive = 1; |
} |
// get current height |
h = ReadingHeight; |
// if current height is above the setpoint reduce gas |
if((h > SetPointHeight) && HeightControlActive) |
{ |
// height difference -> P control part |
h = ((h - SetPointHeight) * (int16_t) FCParam.HeightP) / (16 / STICK_GAIN); |
h = GasMixFraction - h; // reduce gas |
// height gradient --> D control part |
//h -= (HeightD * FCParam.HeightD) / (8 / STICK_GAIN); // D control part |
h -= (HeightD) / (8 / STICK_GAIN); // D control part |
// acceleration sensor effect |
tmp_int = ((ReadingIntegralTop / 128) * (int32_t) FCParam.Height_ACC_Effect) / (128 / STICK_GAIN); |
if(tmp_int > 70 * STICK_GAIN) tmp_int = 70 * STICK_GAIN; |
else if(tmp_int < -(70 * STICK_GAIN)) tmp_int = -(70 * STICK_GAIN); |
h -= tmp_int; |
// update height control gas |
HeightControlGas = (HeightControlGas*15 + h) / 16; |
// limit gas reduction |
if(HeightControlGas < ParamSet.HeightMinGas * STICK_GAIN) |
{ |
if(GasMixFraction >= ParamSet.HeightMinGas * STICK_GAIN) HeightControlGas = ParamSet.HeightMinGas * STICK_GAIN; |
// allows landing also if gas stick is reduced below min gas on height control |
if(GasMixFraction < ParamSet.HeightMinGas * STICK_GAIN) HeightControlGas = GasMixFraction; |
} |
// limit gas to stick setting |
if(HeightControlGas > GasMixFraction) HeightControlGas = GasMixFraction; |
GasMixFraction = HeightControlGas; |
} |
} |
// limit gas to parameter setting |
if(GasMixFraction > (ParamSet.GasMax - 20) * STICK_GAIN) GasMixFraction = (ParamSet.GasMax - 20) * STICK_GAIN; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Mixer and PI-Controller |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DebugOut.Analog[7] = GasMixFraction; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Yaw-Fraction |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
YawMixFraction = PDPartYaw - SetPointYaw * STICK_GAIN; // yaw controller |
#define MIN_YAWGAS (40 * STICK_GAIN) // yaw also below this gas value |
// limit YawMixFraction |
if(GasMixFraction > MIN_YAWGAS) |
{ |
CHECK_MIN_MAX(YawMixFraction, -(GasMixFraction / 2), (GasMixFraction / 2)); |
} |
else |
{ |
CHECK_MIN_MAX(YawMixFraction, -(MIN_YAWGAS / 2), (MIN_YAWGAS / 2)); |
} |
tmp_int = ParamSet.GasMax * STICK_GAIN; |
CHECK_MIN_MAX(YawMixFraction, -(tmp_int - GasMixFraction), (tmp_int - GasMixFraction)); |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Nick-Axis |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffNick = PDPartNick - StickNick; // get difference |
if(GyroIFactor) IPartNick += PPartNick - StickNick; // I-part for attitude control |
else IPartNick += DiffNick; // I-part for head holding |
CHECK_MIN_MAX(IPartNick, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
NickMixFraction = DiffNick + (IPartNick / Ki); // PID-controller for nick |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Roll-Axis |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffRoll = PDPartRoll - StickRoll; // get difference |
if(GyroIFactor) IPartRoll += PPartRoll - StickRoll; // I-part for attitude control |
else IPartRoll += DiffRoll; // I-part for head holding |
CHECK_MIN_MAX(IPartRoll, -(STICK_GAIN * 16000L), (STICK_GAIN * 16000L)); |
RollMixFraction = DiffRoll + (IPartRoll / Ki); // PID-controller for roll |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Limiter |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(GasMixFraction + abs(YawMixFraction) / 2)) / 64; |
CHECK_MIN_MAX(NickMixFraction, -tmp_int, tmp_int); |
CHECK_MIN_MAX(RollMixFraction, -tmp_int, tmp_int); |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Universal Mixer |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
for(i = 0; i < MAX_MOTORS; i++) |
{ |
int16_t tmp; |
if(Mixer.Motor[i][MIX_GAS] > 0) // if gas then mixer |
{ |
tmp = ((int32_t)GasMixFraction * Mixer.Motor[i][MIX_GAS] ) / 64L; |
tmp += ((int32_t)NickMixFraction * Mixer.Motor[i][MIX_NICK]) / 64L; |
tmp += ((int32_t)RollMixFraction * Mixer.Motor[i][MIX_ROLL]) / 64L; |
tmp += ((int32_t)YawMixFraction * Mixer.Motor[i][MIX_YAW] ) / 64L; |
MotorValue[i] = MotorSmoothing(tmp, MotorValue[i]); // Spike Filter |
tmp = MotorValue[i] / STICK_GAIN; |
CHECK_MIN_MAX(tmp, ParamSet.GasMin, ParamSet.GasMax); |
Motor[i].SetPoint = tmp; |
} |
else Motor[i].SetPoint = 0; |
} |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/fc.h |
---|
0,0 → 1,155 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
#ifndef _FC_H |
#define _FC_H |
#include <inttypes.h> |
// scaling from AdAccNick, AdAccRoll -> AccNick, AccRoll |
// i.e. AccNick = ACC_AMPLIFY * AdAccNick |
#define ACC_AMPLIFY 6 |
// scaling from AccNick, AccRoll -> Attitude in deg (approx sin(x) = x), |
// i.e. Nick Angle in deg = AccNick / ACC_DEG_FACTOR |
// the value is derived from the datasheet of the ACC sensor where 5g are scaled to vref |
// therefore 1g is 1024/5 = 205 counts. the adc isr combines 2 acc samples to AdValueAcc |
// and 1g yields to AdValueAcc = 2* 205 * 410 wich is again scaled by ACC_DEG_FACTOR |
// that results in 1g --> Acc = 205 * 12 = 2460. the linear approx of the arcsin and the scaling |
// of Acc gives the factor below. sin(20deg) * 2460 = 841 --> 841 / 20 = 42 |
#define ACC_DEG_FACTOR 42 |
// scaling from IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw -> Attitude in deg |
// i.e. Nick Angle in deg = IntegralGyroNick / GYRO_DEG_FACTOR |
#define GYRO_DEG_FACTOR ((int16_t)(ParamSet.GyroAccFactor) * ACC_DEG_FACTOR) |
extern uint8_t RequiredMotors; |
typedef struct |
{ |
uint8_t HeightD; |
uint8_t MaxHeight; |
uint8_t HeightP; |
uint8_t Height_ACC_Effect; |
uint8_t CompassYawEffect; |
uint8_t GyroD; |
uint8_t GyroP; |
uint8_t GyroI; |
uint8_t StickYawP; |
uint8_t IFactor; |
uint8_t UserParam1; |
uint8_t UserParam2; |
uint8_t UserParam3; |
uint8_t UserParam4; |
uint8_t UserParam5; |
uint8_t UserParam6; |
uint8_t UserParam7; |
uint8_t UserParam8; |
uint8_t ServoNickControl; |
uint8_t LoopGasLimit; |
uint8_t AxisCoupling1; |
uint8_t AxisCoupling2; |
uint8_t AxisCouplingYawCorrection; |
uint8_t DynamicStability; |
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 NaviGpsPLimit; // P limit for GPS-PID controller |
uint8_t NaviAngleLimitation; // limitation of attitude angle controlled by the gps algorithm |
#endif |
int8_t KalmanK; |
int8_t KalmanMaxDrift; |
int8_t KalmanMaxFusion; |
} fc_param_t; |
extern fc_param_t FCParam; |
// rotation rates |
extern int16_t GyroNick, GyroRoll, GyroYaw; |
// attitude calcualted by temporal integral of gyro rates |
extern int32_t IntegralGyroNick, IntegralGyroRoll, IntegralGyroYaw; |
// bias values |
extern int16_t BiasHiResGyroNick, BiasHiResGyroRoll, AdBiasGyroYaw; |
extern int16_t AdBiasAccNick, AdBiasAccRoll; |
extern volatile float AdBiasAccTop; |
extern volatile int32_t ReadingIntegralTop; // calculated in analog.c |
// compass navigation |
extern int16_t CompassHeading; |
extern int16_t CompassCourse; |
extern int16_t CompassOffCourse; |
extern uint8_t CompassCalState; |
extern int32_t YawGyroHeading; |
extern int16_t YawGyroHeadingInDeg; |
// hight control |
extern int ReadingHeight; |
extern int SetPointHeight; |
// accelerations |
extern int16_t AccNick, AccRoll, AccTop; |
// acceleration send to navi board |
extern int16_t NaviAccNick, NaviAccRoll, NaviCntAcc; |
// looping params |
extern long TurnOver180Nick, TurnOver180Roll; |
// external control |
extern int16_t ExternStickNick, ExternStickRoll, ExternStickYaw; |
#define ACC_CALIB 1 |
#define NO_ACC_CALIB 0 |
void MotorControl(void); |
void SendMotorData(void); |
void SetNeutral(uint8_t AccAdjustment); |
void Beep(uint8_t numbeeps); |
extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
// current stick values |
extern int16_t StickNick; |
extern int16_t StickRoll; |
extern int16_t StickYaw; |
// current GPS-stick values |
extern int16_t GPSStickNick; |
extern int16_t GPSStickRoll; |
// current stick elongations |
extern int16_t MaxStickNick, MaxStickRoll, MaxStickYaw; |
extern uint16_t ModelIsFlying; |
// MKFlags |
#define MKFLAG_MOTOR_RUN 0x01 |
#define MKFLAG_FLY 0x02 |
#define MKFLAG_CALIBRATE 0x04 |
#define MKFLAG_START 0x08 |
#define MKFLAG_EMERGENCY_LANDING 0x10 |
#define MKFLAG_RESERVE1 0x20 |
#define MKFLAG_RESERVE2 0x40 |
#define MKFLAG_RESERVE3 0x80 |
extern volatile uint8_t MKFlags; |
#endif //_FC_H |
/branches/Nick666/V0.74d Code Redesign killagreg/gps.c |
---|
0,0 → 1,467 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <inttypes.h> |
#include <stdlib.h> |
#include "fc.h" |
#include "ubx.h" |
#include "mymath.h" |
#include "timer0.h" |
#include "uart0.h" |
#include "rc.h" |
#include "eeprom.h" |
typedef enum |
{ |
GPS_FLIGHT_MODE_UNDEF, |
GPS_FLIGHT_MODE_FREE, |
GPS_FLIGHT_MODE_AID, |
GPS_FLIGHT_MODE_HOME, |
} FlightMode_t; |
#define GPS_POSINTEGRAL_LIMIT 32000 |
// #define GPS_STICK_LIMIT 45 // limit of gps stick control to avoid critical flight attitudes |
// #define GPS_P_LIMIT 25 |
typedef struct |
{ |
int32_t Longitude; |
int32_t Latitude; |
int32_t Altitude; |
Status_t Status; |
} GPS_Pos_t; |
// GPS coordinates for hold position |
GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
// GPS coordinates for home position |
GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
// the current flight mode |
FlightMode_t FlightMode = GPS_FLIGHT_MODE_UNDEF; |
// --------------------------------------------------------------------------------- |
void GPS_UpdateParameter(void) |
{ |
static FlightMode_t FlightModeOld = GPS_FLIGHT_MODE_UNDEF; |
if((RC_Quality < 100) || (MKFlags & MKFLAG_EMERGENCY_LANDING)) |
{ |
FlightMode = GPS_FLIGHT_MODE_FREE; |
} |
else |
{ |
if (FCParam.NaviGpsModeControl < 50) FlightMode = GPS_FLIGHT_MODE_AID; |
else if(FCParam.NaviGpsModeControl < 180) FlightMode = GPS_FLIGHT_MODE_FREE; |
else FlightMode = GPS_FLIGHT_MODE_HOME; |
} |
if (FlightMode != FlightModeOld) |
{ |
BeepTime = 100; |
} |
FlightModeOld = FlightMode; |
} |
// --------------------------------------------------------------------------------- |
// This function defines a good GPS signal condition |
uint8_t GPS_IsSignalOK(void) |
{ |
static uint8_t GPSFix = 0; |
if( (GPSInfo.status != INVALID) && (GPSInfo.satfix == SATFIX_3D) && (GPSInfo.flags & FLAG_GPSFIXOK) && ((GPSInfo.satnum >= ParamSet.NaviGpsMinSat) || GPSFix)) |
{ |
GPSFix = 1; |
return(1); |
} |
else return (0); |
} |
// --------------------------------------------------------------------------------- |
// rescale xy-vector length to limit |
uint8_t GPS_LimitXY(int32_t *x, int32_t *y, int32_t limit) |
{ |
uint8_t retval = 0; |
int32_t len; |
len = (int32_t)c_sqrt(*x * *x + *y * *y); |
if (len > limit) |
{ |
// normalize control vector components to the limit |
*x = (*x * limit) / len; |
*y = (*y * limit) / len; |
retval = 1; |
} |
return(retval); |
} |
// checks nick and roll sticks for manual control |
uint8_t GPS_IsManualControlled(void) |
{ |
if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_NICK]]) < ParamSet.NaviStickThreshold) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < ParamSet.NaviStickThreshold)) return 0; |
else return 1; |
} |
// set given position to current gps position |
uint8_t GPS_SetCurrPosition(GPS_Pos_t * pGPSPos) |
{ |
uint8_t retval = 0; |
if(pGPSPos == NULL) return(retval); // bad pointer |
if(GPS_IsSignalOK()) |
{ // is GPS signal condition is fine |
pGPSPos->Longitude = GPSInfo.longitude; |
pGPSPos->Latitude = GPSInfo.latitude; |
pGPSPos->Altitude = GPSInfo.altitude; |
pGPSPos->Status = NEWDATA; |
retval = 1; |
} |
else |
{ // bad GPS signal condition |
pGPSPos->Status = INVALID; |
retval = 0; |
} |
return(retval); |
} |
// clear position |
uint8_t GPS_ClearPosition(GPS_Pos_t * pGPSPos) |
{ |
uint8_t retval = 0; |
if(pGPSPos == NULL) return(retval); // bad pointer |
else |
{ |
pGPSPos->Longitude = 0; |
pGPSPos->Latitude = 0; |
pGPSPos->Altitude = 0; |
pGPSPos->Status = INVALID; |
retval = 1; |
} |
return (retval); |
} |
// disable GPS control sticks |
void GPS_Neutral(void) |
{ |
GPSStickNick = 0; |
GPSStickRoll = 0; |
} |
// calculates the GPS control stick values from the deviation to target position |
// if the pointer to the target positin is NULL or is the target position invalid |
// then the P part of the controller is deactivated. |
void GPS_PIDController(GPS_Pos_t *pTargetPos) |
{ |
static int32_t PID_Nick, PID_Roll; |
int32_t coscompass, sincompass; |
int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
int32_t PID_North = 0, PID_East = 0; |
static int32_t cos_target_latitude = 1; |
static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
static GPS_Pos_t *pLastTargetPos = 0; |
// if GPS data and Compass are ok |
if( GPS_IsSignalOK() && (CompassHeading >= 0) ) |
{ |
if(pTargetPos != NULL) // if there is a target position |
{ |
if(pTargetPos->Status != INVALID) // and the position data are valid |
{ |
// if the target data are updated or the target pointer has changed |
if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
{ |
// reset error integral |
GPSPosDevIntegral_North = 0; |
GPSPosDevIntegral_East = 0; |
// recalculate latitude projection |
cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
// remember last target pointer |
pLastTargetPos = pTargetPos; |
// mark data as processed |
pTargetPos->Status = PROCESSED; |
} |
// calculate position deviation from latitude and longitude differences |
GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
// calculate latitude projection |
GPSPosDev_East *= cos_target_latitude; |
GPSPosDev_East /= 8192; |
} |
else // no valid target position available |
{ |
// reset error |
GPSPosDev_North = 0; |
GPSPosDev_East = 0; |
// reset error integral |
GPSPosDevIntegral_North = 0; |
GPSPosDevIntegral_East = 0; |
} |
} |
else // no target position available |
{ |
// reset error |
GPSPosDev_North = 0; |
GPSPosDev_East = 0; |
// reset error integral |
GPSPosDevIntegral_North = 0; |
GPSPosDevIntegral_East = 0; |
} |
//Calculate PID-components of the controller |
// D-Part |
D_North = ((int32_t)FCParam.NaviGpsD * GPSInfo.velnorth)/512; |
D_East = ((int32_t)FCParam.NaviGpsD * GPSInfo.veleast)/512; |
// P-Part |
P_North = ((int32_t)FCParam.NaviGpsP * GPSPosDev_North)/2048; |
P_East = ((int32_t)FCParam.NaviGpsP * GPSPosDev_East)/2048; |
// I-Part |
I_North = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_North)/8192; |
I_East = ((int32_t)FCParam.NaviGpsI * GPSPosDevIntegral_East)/8192; |
// combine P & I |
PID_North = P_North + I_North; |
PID_East = P_East + I_East; |
if(!GPS_LimitXY(&PID_North, &PID_East, FCParam.NaviGpsPLimit)) |
{ |
GPSPosDevIntegral_North += GPSPosDev_North/16; |
GPSPosDevIntegral_East += GPSPosDev_East/16; |
GPS_LimitXY(&GPSPosDevIntegral_North, &GPSPosDevIntegral_East, GPS_POSINTEGRAL_LIMIT); |
} |
// combine PI- and D-Part |
PID_North += D_North; |
PID_East += D_East; |
// scale combination with gain. |
PID_North = (PID_North * (int32_t)FCParam.NaviGpsGain) / 100; |
PID_East = (PID_East * (int32_t)FCParam.NaviGpsGain) / 100; |
// GPS to nick and roll settings |
// A positive nick angle moves head downwards (flying forward). |
// A positive roll angle tilts left side downwards (flying left). |
// If compass heading is 0 the head of the copter is in north direction. |
// A positive nick angle will fly to north and a positive roll angle will fly to west. |
// In case of a positive north deviation/velocity the |
// copter should fly to south (negative nick). |
// In case of a positive east position deviation and a positive east velocity the |
// copter should fly to west (positive roll). |
// The influence of the GPSStickNick and GPSStickRoll variable is contrarily to the stick values |
// in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
// GPSStickNick and a positive east deviation/velocity should result in a negative GPSStickRoll. |
coscompass = (int32_t)c_cos_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
sincompass = (int32_t)c_sin_8192(YawGyroHeading / GYRO_DEG_FACTOR); |
PID_Nick = (coscompass * PID_North + sincompass * PID_East) / 8192; |
PID_Roll = (sincompass * PID_North - coscompass * PID_East) / 8192; |
// limit resulting GPS control vector |
GPS_LimitXY(&PID_Nick, &PID_Roll, FCParam.NaviAngleLimitation); |
GPSStickNick = (int16_t)PID_Nick; |
GPSStickRoll = (int16_t)PID_Roll; |
// |
BeepTime = abs(GPSStickNick)+abs(GPSStickRoll); |
} |
else // invalid GPS data or bad compass reading |
{ |
GPS_Neutral(); // do nothing |
// reset error integral |
GPSPosDevIntegral_North = 0; |
GPSPosDevIntegral_East = 0; |
} |
} |
void GPS_Main(void) |
{ |
static uint8_t GPS_P_Delay = 0; |
static uint16_t beep_rythm = 0; |
GPS_UpdateParameter(); |
// store home position if start of flight flag is set |
if(MKFlags & MKFLAG_CALIBRATE) |
{ |
if(GPS_SetCurrPosition(&HomePosition)) BeepTime = 700; |
} |
switch(GPSInfo.status) |
{ |
case INVALID: // invalid gps data |
GPS_Neutral(); |
if(FlightMode != GPS_FLIGHT_MODE_FREE) |
{ |
BeepTime = 100; // beep if signal is neccesary |
} |
break; |
case PROCESSED: // if gps data are already processed do nothing |
// downcount timeout |
if(GPSTimeout) GPSTimeout--; |
// if no new data arrived within timeout set current data invalid |
// and therefore disable GPS |
else |
{ |
GPS_Neutral(); |
GPSInfo.status = INVALID; |
} |
break; |
case NEWDATA: // new valid data from gps device |
// if the gps data quality is good |
beep_rythm++; |
if (GPS_IsSignalOK()) |
{ |
switch(FlightMode) // check what's to do |
{ |
case GPS_FLIGHT_MODE_FREE: |
// update hold position to current gps position |
GPS_SetCurrPosition(&HoldPosition); // can get invalid if gps signal is bad |
// disable gps control |
GPS_Neutral(); |
break; |
case GPS_FLIGHT_MODE_AID: |
if(HoldPosition.Status != INVALID) |
{ |
if( GPS_IsManualControlled() ) // MK controlled by user |
{ |
// update hold point to current gps position |
GPS_SetCurrPosition(&HoldPosition); |
// disable gps control |
GPS_Neutral(); |
GPS_P_Delay = 0; |
} |
else // GPS control active |
{ |
if(GPS_P_Delay < 7) |
{ // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
GPS_P_Delay++; |
GPS_SetCurrPosition(&HoldPosition); // update hold point to current gps position |
GPS_PIDController(NULL); // activates only the D-Part |
} |
else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
} |
} |
else // invalid Hold Position |
{ // try to catch a valid hold position from gps data input |
GPS_SetCurrPosition(&HoldPosition); |
GPS_Neutral(); |
} |
break; |
case GPS_FLIGHT_MODE_HOME: |
if(HomePosition.Status != INVALID) |
{ |
// update hold point to current gps position |
// to avoid a flight back if home comming is deactivated |
GPS_SetCurrPosition(&HoldPosition); |
if( GPS_IsManualControlled() ) // MK controlled by user |
{ |
GPS_Neutral(); |
} |
else // GPS control active |
{ |
GPS_PIDController(&HomePosition); |
} |
} |
else // bad home position |
{ |
BeepTime = 50; // signal invalid home position |
// try to hold at least the position as a fallback option |
if (HoldPosition.Status != INVALID) |
{ |
if( GPS_IsManualControlled() ) // MK controlled by user |
{ |
GPS_Neutral(); |
} |
else // GPS control active |
{ |
GPS_PIDController(&HoldPosition); |
} |
} |
else |
{ // try to catch a valid hold position |
GPS_SetCurrPosition(&HoldPosition); |
GPS_Neutral(); |
} |
} |
break; // eof TSK_HOME |
default: // unhandled task |
GPS_Neutral(); |
break; // eof default |
} // eof switch GPS_Task |
} // eof gps data quality is good |
else // gps data quality is bad |
{ // disable gps control |
GPS_Neutral(); |
if(FlightMode != GPS_FLIGHT_MODE_FREE) |
{ |
// beep if signal is not sufficient |
if(!(GPSInfo.flags & FLAG_GPSFIXOK) && !(beep_rythm % 5)) BeepTime = 100; |
else if (GPSInfo.satnum < ParamSet.NaviGpsMinSat && !(beep_rythm % 5)) BeepTime = 10; |
} |
} |
// set current data as processed to avoid further calculations on the same gps data |
GPSInfo.status = PROCESSED; |
break; |
} // eof GPSInfo.status |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/gps.h |
---|
0,0 → 1,9 |
#ifndef _GPS_H |
#define _GPS_H |
#include <inttypes.h> |
extern void GPS_Main(void); |
#endif //_GPS_H |
/branches/Nick666/V0.74d Code Redesign killagreg/led.c |
---|
0,0 → 1,115 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <inttypes.h> |
#include "led.h" |
#include "fc.h" |
#include "eeprom.h" |
uint8_t J16Blinkcount = 0, J16Mask = 1; |
uint8_t J17Blinkcount = 0, J17Mask = 1; |
// initializes the LED control outputs J16, J17 |
void LED_Init(void) |
{ |
// set PC2 & PC3 as output (control of J16 & J17) |
DDRC |= (1<<DDC2)|(1<<DDC3); |
J16_OFF; |
J17_OFF; |
J16Blinkcount = 0; J16Mask = 128; |
J17Blinkcount = 0; J17Mask = 128; |
} |
// called in main loop every 2ms |
void LED_Update(void) |
{ |
static int8_t delay = 0; |
if(!delay--) // 10 ms intervall |
{ |
delay = 4; |
if ((ParamSet.J16Timing > 250) && (FCParam.J16Timing > 230)) |
{ |
if(ParamSet.J16Bitmask & 128) J16_ON; |
else J16_OFF; |
} |
else if ((ParamSet.J16Timing > 250) && (FCParam.J16Timing < 10)) |
{ |
if(ParamSet.J16Bitmask & 128) J16_OFF; |
else J16_ON; |
} |
else if(!J16Blinkcount--) |
{ |
J16Blinkcount = FCParam.J16Timing - 1; |
if(J16Mask == 1) J16Mask = 128; else J16Mask /= 2; |
if(J16Mask & ParamSet.J16Bitmask) J16_ON; else J16_OFF; |
} |
if ((ParamSet.J17Timing > 250) && (FCParam.J17Timing > 230)) |
{ |
if(ParamSet.J17Bitmask & 128) J17_ON; |
else J17_OFF; |
} |
else if ((ParamSet.J17Timing > 250) && (FCParam.J17Timing < 10)) |
{ |
if(ParamSet.J17Bitmask & 128) J17_OFF; |
else J17_ON; |
} |
else if(!J17Blinkcount--) |
{ |
J17Blinkcount = FCParam.J17Timing - 1; |
if(J17Mask == 1) J17Mask = 128; else J17Mask /= 2; |
if(J17Mask & ParamSet.J17Bitmask) J17_ON; else J17_OFF; |
} |
} |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/led.h |
---|
0,0 → 1,19 |
#ifndef _LED_H |
#define _LED_H |
#include <avr/io.h> |
#define J16_ON PORTC |= (1<<PORTC2) |
#define J16_OFF PORTC &= ~(1<<PORTC2) |
#define J16_TOGGLE PORTC ^= (1<<PORTC2) |
#define J17_ON PORTC |= (1<<PORTC3) |
#define J17_OFF PORTC &= ~(1<<PORTC3) |
#define J17_TOGGLE PORTC ^= (1<<PORTC3) |
void LED_Init(void); |
void LED_Update(void); |
#endif //_LED_H |
/branches/Nick666/V0.74d Code Redesign killagreg/main.c |
---|
0,0 → 1,375 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <avr/boot.h> |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <util/delay.h> |
#include "main.h" |
#include "timer0.h" |
#include "timer2.h" |
#include "uart0.h" |
#include "uart1.h" |
#include "led.h" |
#include "menu.h" |
#include "fc.h" |
#include "rc.h" |
#include "analog.h" |
#include "printf_P.h" |
#ifdef USE_KILLAGREG |
#include "mm3.h" |
#endif |
#ifdef USE_NAVICTRL |
#include "spi.h" |
#endif |
#ifdef USE_MK3MAG |
#include "mk3mag.h" |
#endif |
#include "twimaster.h" |
#include "eeprom.h" |
uint8_t BoardRelease = 10; |
uint8_t CPUType = ATMEGA644; |
uint8_t uiCpuLoad,uiCtrCpuOverload=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; |
// the board release is coded via the pull up or down the 2 status LED |
PORTB &= ~((1 << PORTB1)|(1 << PORTB0)); // set tristate |
DDRB &= ~((1 << DDB0)|(1 << DDB0)); // set port direction as input |
_delay_loop_2(1000); // make some delay |
switch( PINB & ((1<<PINB1)|(1<<PINB0)) ) |
{ |
case 0x00: |
BoardRelease = 10; // 1.0 |
break; |
case 0x01: |
BoardRelease = 11; // 1.1 or 1.2 |
break; |
case 0x02: |
BoardRelease = 20; // 2.0 |
break; |
case 0x03: |
BoardRelease = 13; // 1.3 |
break; |
default: |
break; |
} |
// set LED ports as output |
DDRB |= (1<<DDB1)|(1<<DDB0); |
RED_ON; |
GRN_OFF; |
return BoardRelease; |
} |
int16_t main (void) |
{ |
uint16_t timer; |
uint8_t i; |
// disable interrupts global |
cli(); |
// analyze hardware environment |
CPUType = GetCPUType(); |
BoardRelease = GetBoardRelease(); |
// disable watchdog |
MCUSR &=~(1<<WDRF); |
WDTCSR |= (1<<WDCE)|(1<<WDE); |
WDTCSR = 0; |
BeepTime = 2000; |
PPM_in[CH_GAS] = 0; |
StickYaw = 0; |
StickRoll = 0; |
StickNick = 0; |
RED_OFF; |
// initalize modules |
LED_Init(); |
TIMER0_Init(); |
TIMER2_Init(); |
USART0_Init(); |
if(CPUType == ATMEGA644P) USART1_Init(); |
RC_Init(); |
ADC_Init(); |
I2C_Init(); |
#ifdef USE_NAVICTRL |
SPI_MasterInit(); |
#endif |
#ifdef USE_KILLAGREG |
MM3_Init(); |
#endif |
#ifdef USE_MK3MAG |
MK3MAG_Init(); |
#endif |
// enable interrupts global |
sei(); |
printf("\n\r==================================="); |
printf("\n\rFlightControl"); |
printf("\n\rHardware: %d.%d", BoardRelease/10, BoardRelease%10); |
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; |
// Parameter Set handling |
ParamSet_Init(); |
// Check connected BL-Ctrls |
printf("\n\rFound BL-Ctrl: "); |
motor_read = 0; |
UpdateMotor = 0; |
SendMotorData(); |
while(!UpdateMotor); |
motor_read = 0; // read the first I2C-Data |
for(i = 0; i < MAX_MOTORS; i++) |
{ |
UpdateMotor = 0; |
SendMotorData(); |
while(!UpdateMotor); |
if(Motor[i].Present) printf("%d ",i+1); |
} |
for(i = 0; i < MAX_MOTORS; i++) |
{ |
if(!Motor[i].Present && Mixer.Motor[i][MIX_GAS] > 0) printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
Motor[i].Error = 0; |
} |
printf("\n\r==================================="); |
if(GetParamWord(PID_ACC_NICK) > 2048) |
{ |
printf("\n\rACC not calibrated!"); |
} |
//wait for a short time (otherwise the RC channel check won't work below) |
timer = SetDelay(500); |
while(!CheckDelay(timer)); |
if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
{ |
printf("\n\rCalibrating air pressure sensor.."); |
timer = SetDelay(1000); |
SearchAirPressureOffset(); |
while (!CheckDelay(timer)); |
printf("OK\n\r"); |
} |
#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 SPECTRUM 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 |
SetNeutral(NO_ACC_CALIB); |
RED_OFF; |
BeepTime = 2000; |
ExternControl.Digital[0] = 0x55; |
printf("\n\rControl: "); |
if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
else printf("Neutral (ACC-Mode)"); |
printf("\n\n\r"); |
LCD_Clear(); |
I2CTimeout = 5000; |
while (1) |
{ |
uint8_t usTimeStampSOC,usTimeStampEOC; |
if(UpdateMotor && ADReady) // control interval |
{ |
usTimeStampSOC = Count100uSeconds; //Start of Code |
UpdateMotor = 0; // reset Flag, is enabled every 2 ms by ISR of timer0 |
//J4HIGH; |
MotorControl(); |
//J4LOW; |
SendMotorData(); // the flight control code |
RED_OFF; |
if(PcAccess) PcAccess--; |
else |
{ |
ExternControl.Config = 0; |
ExternStickNick= 0; |
ExternStickRoll = 0; |
ExternStickYaw = 0; |
} |
if(RC_Quality) RC_Quality--; |
#ifdef USE_NAVICTRL |
if(NCDataOkay) |
{ |
if(--NCDataOkay == 0) // no data from NC |
{ // set gps control sticks neutral |
GPSStickNick = 0; |
GPSStickRoll = 0; |
NCSerialDataOkay = 0; |
} |
} |
#endif |
if(!--I2CTimeout || MissingMotor) // try to reset the i2c if motor is missing ot timeout |
{ |
RED_ON; |
if(!I2CTimeout) |
{ |
I2C_Reset(); |
I2CTimeout = 5; |
} |
if((BeepModulation == 0xFFFF) && (MKFlags & MKFLAG_MOTOR_RUN) ) |
{ |
BeepTime = 10000; // 1 second |
BeepModulation = 0x0080; |
} |
} |
else |
{ |
RED_OFF; |
} |
// allow Serial Data Transmit if motors must not updated or motors are not running |
if( !UpdateMotor || !(MKFlags & MKFLAG_MOTOR_RUN) ) |
{ |
USART0_TransmitTxData(); |
} |
USART0_ProcessRxData(); |
if(CheckDelay(timer)) |
{ |
if(UBat < ParamSet.LowVoltageWarning) |
{ |
BeepModulation = 0x0300; |
if(!BeepTime ) |
{ |
BeepTime = 6000; // 0.6 seconds |
} |
} |
#ifdef USE_NAVICTRL |
SPI_StartTransmitPacket(); |
SendSPI = 4; |
#endif |
timer = SetDelay(20); // every 20 ms |
} |
LED_Update(); |
usTimeStampEOC = Count100uSeconds; //End of Code |
uiCpuLoad = (usTimeStampEOC - usTimeStampSOC) * 5; // uiCpuLoad in [%] wenn 2ms = 100% |
if (UpdateMotor) uiCtrCpuOverload++; |
} |
#ifdef USE_NAVICTRL |
if(!SendSPI) |
{ // SendSPI is decremented in timer0.c with a rate of 9.765 kHz. |
// within the SPI_TransmitByte() routine the value is set to 4. |
// I.e. the SPI_TransmitByte() is called at a rate of 9.765 kHz/4= 2441.25 Hz, |
// and therefore the time of transmission of a complete spi-packet (32 bytes) is 32*4/9.765 kHz = 13.1 ms. |
SPI_TransmitByte(); |
} |
#endif |
} |
return (1); |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/main.h |
---|
0,0 → 1,32 |
#ifndef _MAIN_H |
#define _MAIN_H |
#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);} |
#define RED_FLASH PORTB ^= (1<<PORTB0) |
#define GRN_OFF {if(BoardRelease < 12) PORTB &=~(1<<PORTB1); else PORTB |= (1<<PORTB1);} |
#define GRN_ON {if(BoardRelease < 12) PORTB |= (1<<PORTB1); else PORTB &=~(1<<PORTB1);} |
#define GRN_FLASH PORTB ^= (1<<PORTB1) |
#include <inttypes.h> |
extern uint8_t BoardRelease; |
extern uint8_t CPUType; |
extern uint8_t uiCpuLoad,uiCtrCpuOverload; |
#endif //_MAIN_H |
/branches/Nick666/V0.74d Code Redesign killagreg/makefile |
---|
0,0 → 1,508 |
#-------------------------------------------------------------------- |
# MCU name |
MCU = atmega644p |
F_CPU = 20000000 |
#------------------------------------------------------------------- |
VERSION_MAJOR = 0 |
VERSION_MINOR = 74 |
VERSION_PATCH = 3 |
VERSION_SERIAL_MAJOR = 10 # Serial Protocol Major Version |
VERSION_SERIAL_MINOR = 1 # Serial Protocol Minor Version |
NC_SPI_COMPATIBLE = 6 # SPI Protocol Version |
#------------------------------------------------------------------- |
#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 = SPECTRUM |
#------------------------------------------------------------------- |
# get SVN revision |
REV := $(shell sh -c "cat .svn/entries | sed -n '4p'") |
ifeq ($(MCU), atmega644) |
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
HEX_NAME = MEGA644_$(EXT)_$(RC) |
endif |
ifeq ($(MCU), atmega644p) |
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
HEX_NAME = MEGA644p_$(EXT)_$(RC) |
endif |
ifeq ($(F_CPU), 16000000) |
QUARZ = 16MHZ |
endif |
ifeq ($(F_CPU), 20000000) |
QUARZ = 20MHZ |
endif |
# Output format. (can be srec, ihex, binary) |
FORMAT = ihex |
# Target file name (without extension). |
ifeq ($(VERSION_PATCH), 0) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 1) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 2) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 3) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 4) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 5) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 6) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 7) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 8) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 9) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 10) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 11) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)l_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 12) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 13) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 14) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 15) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 16) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV) |
endif |
ifeq ($(VERSION_PATCH), 17) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV) |
endif |
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
OPT = 2 |
#OPT = s |
########################################################################################################## |
# List C source files here. (C dependencies are automatically generated.) |
SRC = main.c uart0.c printf_P.c timer0.c timer2.c analog.c menu.c led.c |
SRC += twimaster.c rc.c fc.c eeprom.c uart1.c |
ifeq ($(EXT), KILLAGREG) |
SRC += mm3.c mymath.c gps.c ubx.c |
endif |
ifeq ($(EXT), MK3MAG) |
SRC += mk3mag.c mymath.c gps.c ubx.c |
endif |
ifeq ($(EXT), NAVICTRL) |
SRC += spi.c |
ifeq ($(RC), DSL) |
SRC += dsl.c |
endif |
ifeq ($(RC), SPECTRUM) |
SRC += spectrum.c |
endif |
endif |
########################################################################################################## |
# List Assembler source files here. |
# Make them always end in a capital .S. Files ending in a lowercase .s |
# will not be considered source files but generated files (assembler |
# output from the compiler), and will be deleted upon "make clean"! |
# Even though the DOS/Win* filesystem matches both .s and .S the same, |
# it will preserve the spelling of the filenames, and gcc itself does |
# care about how the name is spelled on its command-line. |
ASRC = |
# List any extra directories to look for include files here. |
# Each directory must be seperated by a space. |
EXTRAINCDIRS = |
# Optional compiler flags. |
# -g: generate debugging information (for GDB, or for COFF conversion) |
# -O*: optimization level |
# -f...: tuning, see gcc manual and avr-libc documentation |
# -Wall...: warning level |
# -Wa,...: tell GCC to pass this to the assembler. |
# -ahlms: create assembler listing |
CFLAGS = -O$(OPT) \ |
-funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
-Wall -Wstrict-prototypes \ |
-Wa,-adhlns=$(<:.c=.lst) \ |
$(patsubst %,-I%,$(EXTRAINCDIRS)) |
# Set a "language standard" compiler flag. |
# Unremark just one line below to set the language standard to use. |
# gnu99 = C99 + GNU extensions. See GCC manual for more information. |
#CFLAGS += -std=c89 |
#CFLAGS += -std=gnu89 |
#CFLAGS += -std=c99 |
CFLAGS += -std=gnu99 |
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), SPECTRUM) |
CFLAGS += -DUSE_RC_SPECTRUM |
endif |
endif |
ifeq ($(SETUP), QUADRO) |
CFLAGS += -DUSE_QUADRO |
endif |
ifeq ($(SETUP), OCTO) |
CFLAGS += -DUSE_OCTO |
endif |
ifeq ($(SETUP), OCTO2) |
CFLAGS += -DUSE_OCTO2 |
endif |
ifeq ($(SETUP), OCTO3) |
CFLAGS += -DUSE_OCTO3 |
endif |
# Optional assembler flags. |
# -Wa,...: tell GCC to pass this to the assembler. |
# -ahlms: create listing |
# -gstabs: have the assembler create line number information; note that |
# for use in COFF files, additional information about filenames |
# and function names needs to be present in the assembler source |
# files -- see avr-libc docs [FIXME: not yet described there] |
ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
# Optional linker flags. |
# -Wl,...: tell GCC to pass this to linker. |
# -Map: create map file |
# --cref: add cross reference to map file |
LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
# Additional libraries |
# Minimalistic printf version |
#LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
# Floating point printf version (requires -lm below) |
#LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
# -lm = math library |
LDFLAGS += -lm |
##LDFLAGS += -T./linkerfile/avr5.x |
# Programming support using avrdude. Settings and variables. |
# Programming hardware: alf avr910 avrisp bascom bsd |
# dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
# |
# Type: avrdude -c ? |
# to get a full listing. |
# |
#AVRDUDE_PROGRAMMER = dt006 |
#AVRDUDE_PROGRAMMER = stk200 |
#AVRDUDE_PROGRAMMER = ponyser |
AVRDUDE_PROGRAMMER = avrispv2 |
#falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
#AVRDUDE_PORT = com1 # programmer connected to serial device |
#AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
AVRDUDE_PORT = usb # programmer connected to USB |
#AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
#AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
#avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex |
AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
# Uncomment the following if you want avrdude's erase cycle counter. |
# Note that this counter needs to be initialized first using -Yn, |
# see avrdude manual. |
#AVRDUDE_ERASE += -y |
# Uncomment the following if you do /not/ wish a verification to be |
# performed after programming the device. |
AVRDUDE_FLAGS += -V |
# Increase verbosity level. Please use this when submitting bug |
# reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
# to submit bug reports. |
#AVRDUDE_FLAGS += -v -v |
# --------------------------------------------------------------------------- |
# Define directories, if needed. |
DIRAVR = c:/winavr |
DIRAVRBIN = $(DIRAVR)/bin |
DIRAVRUTILS = $(DIRAVR)/utils/bin |
DIRINC = . |
DIRLIB = $(DIRAVR)/avr/lib |
# Define programs and commands. |
SHELL = sh |
CC = avr-gcc |
OBJCOPY = avr-objcopy |
OBJDUMP = avr-objdump |
SIZE = avr-size |
# Programming support using avrdude. |
AVRDUDE = avrdude |
REMOVE = rm -f |
COPY = cp |
HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
ELFSIZE = $(SIZE) -A $(TARGET).elf |
# Define Messages |
# English |
MSG_ERRORS_NONE = Errors: none |
MSG_BEGIN = -------- begin -------- |
MSG_END = -------- end -------- |
MSG_SIZE_BEFORE = Size before: |
MSG_SIZE_AFTER = Size after: |
MSG_COFF = Converting to AVR COFF: |
MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
MSG_FLASH = Creating load file for Flash: |
MSG_EEPROM = Creating load file for EEPROM: |
MSG_EXTENDED_LISTING = Creating Extended Listing: |
MSG_SYMBOL_TABLE = Creating Symbol Table: |
MSG_LINKING = Linking: |
MSG_COMPILING = Compiling: |
MSG_ASSEMBLING = Assembling: |
MSG_CLEANING = Cleaning project: |
# Define all object files. |
OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
# Define all listing files. |
LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
# Combine all necessary flags and optional flags. |
# Add target processor to flags. |
#ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
# Default target. |
all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
$(TARGET).lss $(TARGET).sym sizeafter finished end |
# Eye candy. |
# AVR Studio 3.x does not check make's exit code but relies on |
# the following magic strings to be generated by the compile job. |
begin: |
@echo |
@echo $(MSG_BEGIN) |
finished: |
@echo $(MSG_ERRORS_NONE) |
end: |
@echo $(MSG_END) |
@echo |
# Display size of file. |
sizebefore: |
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
sizeafter: |
@if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
# Display compiler version information. |
gccversion : |
@$(CC) --version |
# Convert ELF to COFF for use in debugging / simulating in |
# AVR Studio or VMLAB. |
COFFCONVERT=$(OBJCOPY) --debugging \ |
--change-section-address .data-0x800000 \ |
--change-section-address .bss-0x800000 \ |
--change-section-address .noinit-0x800000 \ |
--change-section-address .eeprom-0x810000 |
coff: $(TARGET).elf |
@echo |
@echo $(MSG_COFF) $(TARGET).cof |
$(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
extcoff: $(TARGET).elf |
@echo |
@echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
$(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
# Program the device. |
program: $(TARGET).hex $(TARGET).eep |
$(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
# Create final output files (.hex, .eep) from ELF output file. |
%.hex: %.elf |
@echo |
@echo $(MSG_FLASH) $@ |
$(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
%.eep: %.elf |
@echo |
@echo $(MSG_EEPROM) $@ |
-$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
--change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
# Create extended listing file from ELF output file. |
%.lss: %.elf |
@echo |
@echo $(MSG_EXTENDED_LISTING) $@ |
$(OBJDUMP) -h -S $< > $@ |
# Create a symbol table from ELF output file. |
%.sym: %.elf |
@echo |
@echo $(MSG_SYMBOL_TABLE) $@ |
avr-nm -n $< > $@ |
# Link: create ELF output file from object files. |
.SECONDARY : $(TARGET).elf |
.PRECIOUS : $(OBJ) |
%.elf: $(OBJ) |
@echo |
@echo $(MSG_LINKING) $@ |
$(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
# Compile: create object files from C source files. |
%.o : %.c |
@echo |
@echo $(MSG_COMPILING) $< |
$(CC) -c $(ALL_CFLAGS) $< -o $@ |
# Compile: create assembler files from C source files. |
%.s : %.c |
$(CC) -S $(ALL_CFLAGS) $< -o $@ |
# Assemble: create object files from assembler source files. |
%.o : %.S |
@echo |
@echo $(MSG_ASSEMBLING) $< |
$(CC) -c $(ALL_ASFLAGS) $< -o $@ |
# Target: clean project. |
clean: begin clean_list finished end |
clean_list : |
@echo |
@echo $(MSG_CLEANING) |
# $(REMOVE) $(TARGET).hex |
$(REMOVE) $(TARGET).eep |
$(REMOVE) $(TARGET).obj |
$(REMOVE) $(TARGET).cof |
$(REMOVE) $(TARGET).elf |
$(REMOVE) $(TARGET).map |
$(REMOVE) $(TARGET).obj |
$(REMOVE) $(TARGET).a90 |
$(REMOVE) $(TARGET).sym |
$(REMOVE) $(TARGET).lnk |
$(REMOVE) $(TARGET).lss |
$(REMOVE) $(OBJ) |
$(REMOVE) $(LST) |
$(REMOVE) $(SRC:.c=.s) |
$(REMOVE) $(SRC:.c=.d) |
# Automatically generate C source code dependencies. |
# (Code originally taken from the GNU make user manual and modified |
# (See README.txt Credits).) |
# |
# Note that this will work with sh (bash) and sed that is shipped with WinAVR |
# (see the SHELL variable defined above). |
# This may not work with other shells or other seds. |
# |
%.d: %.c |
set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
[ -s $@ ] || rm -f $@ |
# Remove the '-' if you want to see the dependency files generated. |
-include $(SRC:.c=.d) |
# Listing of phony targets. |
.PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
clean clean_list program |
/branches/Nick666/V0.74d Code Redesign killagreg/menu.c |
---|
0,0 → 1,325 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <stdlib.h> |
#include <inttypes.h> |
#include "main.h" |
#include "eeprom.h" |
#include "timer2.h" |
#include "fc.h" |
#include "rc.h" |
#include "uart0.h" |
#include "printf_P.h" |
#include "analog.h" |
#include "twimaster.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 = 13; |
#else |
#ifdef USE_MK3MAG |
uint8_t MaxMenuItem = 14; |
#endif |
#ifdef USE_KILLAGREG |
uint8_t MaxMenuItem = 16; |
#endif |
#endif |
uint8_t MenuItem = 0; |
uint8_t RemoteKeys = 0; |
#define KEY1 0x01 |
#define KEY2 0x02 |
#define KEY3 0x04 |
#define KEY4 0x08 |
#define KEY5 0x10 |
#define DISPLAYBUFFSIZE 80 |
int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
uint8_t DispPtr = 0; |
/************************************/ |
/* Clear LCD Buffer */ |
/************************************/ |
void LCD_Clear(void) |
{ |
uint8_t i; |
for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
} |
/************************************/ |
/* Update Menu on LCD */ |
/************************************/ |
// Display with 20 characters in 4 lines |
void LCD_PrintMenu(void) |
{ |
if(RemoteKeys & KEY1) |
{ |
if(MenuItem) MenuItem--; |
else MenuItem = MaxMenuItem; |
} |
if(RemoteKeys & KEY2) |
{ |
if(MenuItem == MaxMenuItem) MenuItem = 0; |
else MenuItem++; |
} |
if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuItem = 0; |
LCD_Clear(); |
if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
// print menu item number in the upper right corner |
if(MenuItem < 10) |
{ |
LCD_printfxy(17,0,"[%i]",MenuItem); |
} |
else |
{ |
LCD_printfxy(16,0,"[%i]",MenuItem); |
} |
switch(MenuItem) |
{ |
case 0:// Version Info Menu Item |
LCD_printfxy(0,0,"+ MikroKopter +"); |
LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a'); |
LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name); |
if(I2CTimeout < 6) |
{ |
LCD_printfxy(0,3,"I2C Error!!!"); |
} |
else if (MissingMotor) |
{ |
LCD_printfxy(0,3,"Missing BL-Ctrl:%d", MissingMotor); |
} |
else LCD_printfxy(0,3,"(c) Holger Buss"); |
break; |
case 1:// Height Control Menu Item |
if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
{ |
LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
} |
else |
{ |
LCD_printfxy(0,1,"No "); |
LCD_printfxy(0,2,"Height Control"); |
} |
break; |
case 2:// Attitude Menu Item |
LCD_printfxy(0,0,"Attitude"); |
LCD_printfxy(0,1,"Nick: %5i",IntegralGyroNick/1024); |
LCD_printfxy(0,2,"Roll: %5i",IntegralGyroRoll/1024); |
LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
break; |
case 3:// Remote Control Channel Menu Item |
LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
break; |
case 4:// Remote Control Mapping Menu Item |
LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
break; |
case 5:// Gyro Sensor Menu Item |
LCD_printfxy(0,0,"Gyro - Sensor"); |
switch(BoardRelease) |
{ |
case 10: |
LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick % HIRES_GYRO_AMPLIFY); |
LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll % HIRES_GYRO_AMPLIFY); |
LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw); |
break; |
case 11: |
case 12: |
case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
LCD_printfxy(0,1,"Nick %4i (%3i.%i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
LCD_printfxy(0,2,"Roll %4i (%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
LCD_printfxy(0,3,"Yaw %4i (%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2); |
break; |
case 13: |
default: // divice Offests by 2 becuse 2 samples are added in adc isr |
LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroNick); // division by 2 to push the reminder below 10 (15/2 = 7) |
LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroRoll); // division by 2 to push the reminder below 10 (15/2 = 7) |
LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2, DacOffsetGyroYaw ); |
break; |
} |
break; |
case 6:// Acceleration Sensor Menu Item |
LCD_printfxy(0,0,"ACC - Sensor"); |
LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick/2, AdBiasAccNick/2); // factor 2 because of adding 2 samples in ADC ISR |
LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR |
LCD_printfxy(0,3,"Height %4i (%3i)",AdValueAccTop, (int16_t)AdBiasAccTop); |
break; |
case 7:// Accumulator Voltage / Remote Control Level |
LCD_printfxy(0,1,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
break; |
case 8:// Compass Menu Item |
LCD_printfxy(0,0,"Compass "); |
LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
break; |
case 9:// Poti Menu Item |
LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
break; |
case 10:// Servo Menu Item |
LCD_printfxy(0,0,"Servo " ); |
LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
break; |
case 11://Extern Control |
LCD_printfxy(0,0,"ExternControl " ); |
LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
break; |
case 12://BL Communication errors |
LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
LCD_printfxy(0,1," %3d %3d %3d %3d ",Motor[0].Error,Motor[1].Error,Motor[2].Error,Motor[3].Error); |
LCD_printfxy(0,2," %3d %3d %3d %3d ",Motor[4].Error,Motor[5].Error,Motor[6].Error,Motor[7].Error); |
LCD_printfxy(0,3," %3d %3d %3d %3d ",Motor[8].Error,Motor[9].Error,Motor[10].Error,Motor[11].Error); |
break; |
case 13://BL Overview |
LCD_printfxy(0,0,"BL-Ctrl found " ); |
LCD_printfxy(0,1," %c %c %c %c ",Motor[0].Present + '-',Motor[1].Present + '-',Motor[2].Present + '-',Motor[3].Present + '-'); |
LCD_printfxy(0,2," %c %c %c %c ",Motor[4].Present + '-',Motor[5].Present + '-',Motor[6].Present + '-',Motor[7].Present + '-'); |
LCD_printfxy(0,3," %c - - - ",Motor[8].Present + '-'); |
if(Motor[9].Present) LCD_printfxy(4,3,"10"); |
if(Motor[10].Present) LCD_printfxy(8,3,"11"); |
if(Motor[11].Present) LCD_printfxy(12,3,"12"); |
break; |
#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
case 14://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 15:// 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 16://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; |
break; |
} |
RemoteKeys = 0; |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/menu.h |
---|
0,0 → 1,17 |
#ifndef _MENU_H |
#define _MENU_H |
#include <inttypes.h> |
#define DISPLAYBUFFSIZE 80 |
extern void LCD_PrintMenu(void); |
extern void LCD_Clear(void); |
extern int8_t DisplayBuff[DISPLAYBUFFSIZE]; |
extern uint8_t DispPtr; |
extern uint8_t MenuItem; |
extern uint8_t MaxMenuItem; |
extern uint8_t RemoteKeys; |
#endif //_MENU_H |
/branches/Nick666/V0.74d Code Redesign killagreg/mk3mag.c |
---|
0,0 → 1,131 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <avr/io.h> |
#include <stdlib.h> |
#include <inttypes.h> |
#include "timer0.h" |
#include "fc.h" |
#include "rc.h" |
#include "eeprom.h" |
#include "mk3mag.h" |
uint8_t PWMTimeout = 12; |
ToMk3Mag_t ToMk3Mag; |
/*********************************************/ |
/* Initialize Interface to MK3MAG Compass */ |
/*********************************************/ |
void MK3MAG_Init(void) |
{ |
// Port PC4 connected to PWM output from compass module |
DDRC &= ~(1<<DDC4); // set as input |
PORTC |= (1<<PORTC4); // pull up to increase PWM counter also if nothing is connected |
PWMTimeout = 0; |
ToMk3Mag.CalState = 0; |
ToMk3Mag.Orientation = 1; |
} |
/*********************************************/ |
/* Get PWM from MK3MAG */ |
/*********************************************/ |
void MK3MAG_Update(void) // called every 102.4 us by timer 0 ISR |
{ |
static uint16_t PWMCount = 0; |
static uint16_t BeepDelay = 0; |
// The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
// in other words 100us/° with a +1ms offset. |
// The signal goes low for 65ms between pulses, |
// so the cycle time is 65mS + the pulse width. |
// pwm is high |
if(PINC & (1<<PINC4)) |
{ // If PWM signal is high increment PWM high counter |
// This counter is incremented by a periode of 102.4us, |
// i.e. the resoluton of pwm coded heading is approx. 1 deg. |
PWMCount++; |
// pwm overflow? |
if (PWMCount > 400) |
{ |
if(PWMTimeout) PWMTimeout--; // decrement timeout |
CompassHeading = -1; // unknown heading |
PWMCount = 0; // reset PWM Counter |
} |
} |
else // pwm is low |
{ // ignore pwm values values of 0 and higher than 37 ms; |
if((PWMCount) && (PWMCount < 362)) // 362 * 102.4us = 37.0688 ms |
{ |
if(PWMCount <10) CompassHeading = 0; |
else CompassHeading = ((uint32_t)(PWMCount - 10) * 1049L)/1024; // correct timebase and offset |
CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
// 12 * 362 counts * 102.4 us |
} |
PWMCount = 0; // reset pwm counter |
} |
if(!PWMTimeout) |
{ |
if(CheckDelay(BeepDelay)) |
{ |
if(!BeepTime) BeepTime = 100; // make noise with 10Hz to signal the compass problem |
BeepDelay = SetDelay(100); |
} |
} |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/mk3mag.h |
---|
0,0 → 1,21 |
#ifndef _MK3MAG_H |
#define _MK3MAG_H |
typedef struct |
{ |
int16_t Attitude[2]; |
uint8_t UserParam[2]; |
uint8_t CalState; |
uint8_t Orientation; |
} ToMk3Mag_t; |
extern ToMk3Mag_t ToMk3Mag; |
// Initialization |
void MK3MAG_Init(void); |
// should be called cyclic to get actual compass heading |
void MK3MAG_Update(void); |
#endif //_MK3MAG_H |
/branches/Nick666/V0.74d Code Redesign killagreg/mm3.c |
---|
0,0 → 1,534 |
/* |
Copyright 2008, by Killagreg |
This program (files mm3.c and mm3.h) is free software; you can redistribute it and/or modify |
it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
either version 3 of the License, or (at your option) any later version. |
This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
Please note: The original implementation was done by Niklas Nold. |
All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
*/ |
#include <stdlib.h> |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <inttypes.h> |
#include "mm3.h" |
#include "main.h" |
#include "mymath.h" |
#include "fc.h" |
#include "timer0.h" |
#include "rc.h" |
#include "eeprom.h" |
#include "printf_P.h" |
// for compatibility reasons gcc3.x <-> gcc4.x |
#ifndef SPCR |
#define SPCR SPCR0 |
#endif |
#ifndef SPIE |
#define SPIE SPIE0 |
#endif |
#ifndef SPE |
#define SPE SPE0 |
#endif |
#ifndef DORD |
#define DORD DORD0 |
#endif |
#ifndef MSTR |
#define MSTR MSTR0 |
#endif |
#ifndef CPOL |
#define CPOL CPOL0 |
#endif |
#ifndef CPHA |
#define CPHA CPHA0 |
#endif |
#ifndef SPR1 |
#define SPR1 SPR01 |
#endif |
#ifndef SPR0 |
#define SPR0 SPR00 |
#endif |
#ifndef SPDR |
#define SPDR SPDR0 |
#endif |
#ifndef SPSR |
#define SPSR SPSR0 |
#endif |
#ifndef SPIF |
#define SPIF SPIF0 |
#endif |
#ifndef WCOL |
#define WCOL WCOL0 |
#endif |
#ifndef SPI2X |
#define SPI2X SPI2X0 |
#endif |
// ------------------------- |
#define MAX_AXIS_VALUE 500 |
typedef struct |
{ |
uint8_t STATE; |
uint16_t DRDY; |
uint8_t AXIS; |
int16_t x_axis; |
int16_t y_axis; |
int16_t z_axis; |
} MM3_working_t; |
// MM3 State Machine |
#define MM3_STATE_RESET 0 |
#define MM3_STATE_START_TRANSFER 1 |
#define MM3_STATE_WAIT_DRDY 2 |
#define MM3_STATE_DRDY 3 |
#define MM3_STATE_BYTE2 4 |
#define MM3_X_AXIS 0x01 |
#define MM3_Y_AXIS 0x02 |
#define MM3_Z_AXIS 0x03 |
#define MM3_PERIOD_32 0x00 |
#define MM3_PERIOD_64 0x10 |
#define MM3_PERIOD_128 0x20 |
#define MM3_PERIOD_256 0x30 |
#define MM3_PERIOD_512 0x40 |
#define MM3_PERIOD_1024 0x50 |
#define MM3_PERIOD_2048 0x60 |
#define MM3_PERIOD_4096 0x70 |
#if defined(USE_WALTER_EXT) // walthers board |
// Output Pins (J9)PC6->MM3_SS ,(J8)PB2->MM3_RESET |
#define MM3_SS_PORT PORTC //J9->MM3_SS |
#define MM3_SS_DDR DDRC |
#define MM3_SS_PIN PC6 |
#define MM3_RESET_PORT PORTB //J8->MM3_RESET |
#define MM3_RESET_DDR DDRB |
#define MM3_RESET_PIN PB2 |
#elif defined(USE_NICK666) // nick666 version 0.67g |
#define MM3_SS_PORT PORTD //J5->MM3_SS |
#define MM3_SS_DDR DDRD |
#define MM3_SS_PIN PD3 |
#define MM3_RESET_PORT PORTB //J8->MM3_RESET |
#define MM3_RESET_DDR DDRB |
#define MM3_RESET_PIN PB2 |
#else // killagregs board |
// Output Pins PC4->MM3_SS ,PC5->MM3_RESET |
#define MM3_SS_PORT PORTC |
#define MM3_SS_DDR DDRC |
#define MM3_SS_PIN PC4 |
#define MM3_RESET_PORT PORTC |
#define MM3_RESET_DDR DDRC |
#define MM3_RESET_PIN PC5 |
#endif |
#define MM3_SS_ON MM3_SS_PORT &= ~(1<<MM3_SS_PIN); |
#define MM3_SS_OFF MM3_SS_PORT |= (1<<MM3_SS_PIN); |
#define MM3_RESET_ON MM3_RESET_PORT |= (1<<MM3_RESET_PIN); |
#define MM3_RESET_OFF MM3_RESET_PORT &= ~(1<<MM3_RESET_PIN); |
MM3_calib_t MM3_calib; |
volatile MM3_working_t MM3; |
volatile uint8_t MM3_Timeout = 0; |
/*********************************************/ |
/* Initialize Interface to MM3 Compass */ |
/*********************************************/ |
void MM3_Init(void) |
{ |
uint8_t sreg = SREG; |
cli(); |
// Configure Pins for SPI |
// set SCK (PB7), MOSI (PB5) as output |
DDRB |= (1<<DDB7)|(1<<DDB5); |
// set MISO (PB6) as input |
DDRB &= ~(1<<DDB6); |
// Output Pins MM3_SS ,MM3_RESET |
MM3_SS_DDR |= (1<<MM3_SS_PIN); |
MM3_RESET_DDR |= (1<<MM3_RESET_PIN); |
// set pins permanent to low |
MM3_SS_PORT &= ~((1<<MM3_SS_PIN)); |
MM3_RESET_PORT &= ~((1<<MM3_RESET_PIN)); |
// Initialize SPI-Interface |
// Enable interrupt (SPIE=1) |
// Enable SPI bus (SPE=1) |
// MSB transmitted first (DORD = 0) |
// Master SPI Mode (MSTR=1) |
// Clock polarity low when idle (CPOL=0) |
// Clock phase sample at leading edge (CPHA=0) |
// Clock rate = SYSCLK/128 (SPI2X=0, SPR1=1, SPR0=1) 20MHz/128 = 156.25kHz |
SPCR = (1<<SPIE)|(1<<SPE)|(0<<DORD)|(1<<MSTR)|(0<<CPOL)|(0<<CPHA)|(1<<SPR1)|(1<<SPR0); |
SPSR &= ~(1<<SPI2X); |
// Init Statemachine |
MM3.AXIS = MM3_X_AXIS; |
MM3.STATE = MM3_STATE_RESET; |
// Read calibration from EEprom |
MM3_calib.X_off = (int8_t)GetParamByte(PID_MM3_X_OFF); |
MM3_calib.Y_off = (int8_t)GetParamByte(PID_MM3_Y_OFF); |
MM3_calib.Z_off = (int8_t)GetParamByte(PID_MM3_Z_OFF); |
MM3_calib.X_range = (int16_t)GetParamWord(PID_MM3_X_RANGE); |
MM3_calib.Y_range = (int16_t)GetParamWord(PID_MM3_Y_RANGE); |
MM3_calib.Z_range = (int16_t)GetParamWord(PID_MM3_Z_RANGE); |
MM3_Timeout = 0; |
SREG = sreg; |
} |
/*********************************************/ |
/* Get Data from MM3 */ |
/*********************************************/ |
void MM3_Update(void) // called every 102.4 µs by timer 0 ISR |
{ |
switch (MM3.STATE) |
{ |
case MM3_STATE_RESET: |
MM3_SS_ON // select slave |
MM3_RESET_ON // RESET to High, MM3 Reset |
MM3.STATE = MM3_STATE_START_TRANSFER; |
return; |
case MM3_STATE_START_TRANSFER: |
MM3_RESET_OFF // RESET auf Low (was 102.4 µs at high level) |
// write to SPDR triggers automatically the transfer MOSI MISO |
// MM3 Period, + AXIS code |
switch(MM3.AXIS) |
{ |
case MM3_X_AXIS: |
SPDR = MM3_PERIOD_256 + MM3_X_AXIS; |
break; |
case MM3_Y_AXIS: |
SPDR = MM3_PERIOD_256 + MM3_Y_AXIS; |
break; |
case MM3_Z_AXIS: |
SPDR = MM3_PERIOD_256 + MM3_Z_AXIS; |
break; |
default: |
MM3.AXIS = MM3_X_AXIS; |
MM3.STATE = MM3_STATE_RESET; |
return; |
} |
// DRDY line is not connected, therefore |
// wait before reading data back |
MM3.DRDY = SetDelay(8); // wait 8ms for data ready |
MM3.STATE = MM3_STATE_WAIT_DRDY; |
return; |
case MM3_STATE_WAIT_DRDY: |
if (CheckDelay(MM3.DRDY)) |
{ |
// write something into SPDR to trigger data reading |
SPDR = 0x00; |
MM3.STATE = MM3_STATE_DRDY; |
} |
return; |
} |
} |
/*********************************************/ |
/* Interrupt SPI transfer complete */ |
/*********************************************/ |
ISR(SPI_STC_vect) |
{ |
static int8_t tmp; |
int16_t value; |
switch (MM3.STATE) |
{ |
// 1st byte received |
case MM3_STATE_DRDY: |
tmp = SPDR; // store 1st byte |
SPDR = 0x00; // trigger transfer of 2nd byte |
MM3.STATE = MM3_STATE_BYTE2; |
return; |
case MM3_STATE_BYTE2: // 2nd byte received |
value = (int16_t)tmp; // combine the 1st and 2nd byte to a word |
value <<= 8; // shift 1st byte to MSB-Position |
value |= (int16_t)SPDR; // add 2nd byte |
if(abs(value) < MAX_AXIS_VALUE) // ignore spikes |
{ |
switch (MM3.AXIS) |
{ |
case MM3_X_AXIS: |
MM3.x_axis = value; |
MM3.AXIS = MM3_Y_AXIS; |
break; |
case MM3_Y_AXIS: |
MM3.y_axis = value; |
MM3.AXIS = MM3_Z_AXIS; |
break; |
case MM3_Z_AXIS: |
MM3.z_axis = value; |
MM3.AXIS = MM3_X_AXIS; |
break; |
default: |
MM3.AXIS = MM3_X_AXIS; |
break; |
} |
} |
MM3_SS_OFF // deselect slave |
MM3.STATE = MM3_STATE_RESET; |
// Update timeout is called every 102.4 µs. |
// It takes 2 cycles to write a measurement data request for one axis and |
// at at least 8 ms / 102.4 µs = 79 cycles to read the requested data back. |
// I.e. 81 cycles * 102.4 µs = 8.3ms per axis. |
// The two function accessing the MM3 Data - MM3_Calibrate() and MM3_Heading() - |
// decremtent the MM3_Timeout every 100 ms. |
// incrementing the counter by 1 every 8.3 ms is sufficient to avoid a timeout. |
if ((MM3.x_axis != MM3.y_axis) || (MM3.x_axis != MM3.z_axis) || (MM3.y_axis != MM3.z_axis)) |
{ // if all axis measurements give diffrent readings the data should be valid |
if(MM3_Timeout < 20) MM3_Timeout++; |
} |
else // something is very strange here |
{ |
if(MM3_Timeout ) MM3_Timeout--; |
} |
return; |
default: |
return; |
} |
} |
/*********************************************/ |
/* Calibrate Compass */ |
/*********************************************/ |
void MM3_Calibrate(void) |
{ |
static int16_t x_min, x_max, y_min, y_max, z_min, z_max; |
switch(CompassCalState) |
{ |
case 1: // change to x-y axis |
x_min = 10000; |
x_max = -10000; |
y_min = 10000; |
y_max = -10000; |
z_min = 10000; |
z_max = -10000; |
break; |
case 2: |
// find Min and Max of the X- and Y-Axis |
if(MM3.x_axis < x_min) x_min = MM3.x_axis; |
if(MM3.x_axis > x_max) x_max = MM3.x_axis; |
if(MM3.y_axis < y_min) y_min = MM3.y_axis; |
if(MM3.y_axis > y_max) y_max = MM3.y_axis; |
break; |
case 3: |
// change to z-Axis |
break; |
case 4: |
RED_ON; // find Min and Max of the Z-axis |
if(MM3.z_axis < z_min) z_min = MM3.z_axis; |
if(MM3.z_axis > z_max) z_max = MM3.z_axis; |
break; |
case 5: |
// calc range of all axis |
MM3_calib.X_range = (x_max - x_min); |
MM3_calib.Y_range = (y_max - y_min); |
MM3_calib.Z_range = (z_max - z_min); |
// calc offset of all axis |
MM3_calib.X_off = (x_max + x_min) / 2; |
MM3_calib.Y_off = (y_max + y_min) / 2; |
MM3_calib.Z_off = (z_max + z_min) / 2; |
// save to EEProm |
SetParamByte(PID_MM3_X_OFF, (uint8_t)MM3_calib.X_off); |
SetParamByte(PID_MM3_Y_OFF, (uint8_t)MM3_calib.Y_off); |
SetParamByte(PID_MM3_Z_OFF, (uint8_t)MM3_calib.Z_off); |
SetParamWord(PID_MM3_X_RANGE, (uint16_t)MM3_calib.X_range); |
SetParamWord(PID_MM3_Y_RANGE, (uint16_t)MM3_calib.Y_range); |
SetParamWord(PID_MM3_Z_RANGE, (uint16_t)MM3_calib.Z_range); |
CompassCalState = 0; |
break; |
default: |
CompassCalState = 0; |
break; |
} |
} |
/* |
void MM3_Calibrate(void) |
{ |
static uint8_t debugcounter = 0; |
int16_t x_min = 0, x_max = 0, y_min = 0, y_max = 0, z_min = 0, z_max = 0; |
uint8_t measurement = 50, beeper = 0; |
uint16_t timer; |
GRN_ON; |
RED_OFF; |
// get maximum and minimum reading of all axis |
while (measurement) |
{ |
// reset range markers if yawstick ist leftmost |
if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100) |
{ |
x_min = 0; |
x_max = 0; |
y_min = 0; |
y_max = 0; |
z_min = 0; |
z_max = 0; |
} |
if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
if (!beeper) |
{ |
RED_FLASH; |
GRN_FLASH; |
BeepTime = 50; |
beeper = 50; |
} |
beeper--; |
// loop with period of 10 ms / 100 Hz |
timer = SetDelay(10); |
while(!CheckDelay(timer)); |
if(debugcounter++ > 30) |
{ |
printf("\n\rXMin:%4d, XMax:%4d, YMin:%4d, YMax:%4d, ZMin:%4d, ZMax:%4d",x_min,x_max,y_min,y_max,z_min,z_max); |
debugcounter = 0; |
} |
// If gas is less than 100, stop calibration with a delay of 0.5 seconds |
if (PPM_in[ParamSet.ChannelAssignment[CH_GAS]] < 100) measurement--; |
} |
// Rage of all axis |
MM3_calib.X_range = (x_max - x_min); |
MM3_calib.Y_range = (y_max - y_min); |
MM3_calib.Z_range = (z_max - z_min); |
// Offset of all axis |
MM3_calib.X_off = (x_max + x_min) / 2; |
MM3_calib.Y_off = (y_max + y_min) / 2; |
MM3_calib.Z_off = (z_max + z_min) / 2; |
// save to EEProm |
SetParamByte(PID_MM3_X_OFF, (uint8_t)MM3_calib.X_off); |
SetParamByte(PID_MM3_Y_OFF, (uint8_t)MM3_calib.Y_off); |
SetParamByte(PID_MM3_Z_OFF, (uint8_t)MM3_calib.Z_off); |
SetParamWord(PID_MM3_X_RANGE, (uint16_t)MM3_calib.X_range); |
SetParamWord(PID_MM3_Y_RANGE, (uint16_t)MM3_calib.Y_range); |
SetParamWord(PID_MM3_Z_RANGE, (uint16_t)MM3_calib.Z_range); |
} |
*/ |
/*********************************************/ |
/* Calculate north direction (heading) */ |
/*********************************************/ |
void MM3_Heading(void) |
{ |
int32_t sin_nick, cos_nick, sin_roll, cos_roll, sin_yaw, cos_yaw; |
int32_t Hx, Hy, Hz, Hx_corr, Hy_corr; |
int16_t angle; |
int16_t heading; |
if (MM3_Timeout) |
{ |
// Offset correction and normalization (values of H are +/- 512) |
Hx = (((int32_t)(MM3.x_axis - MM3_calib.X_off)) * 1024) / (int32_t)MM3_calib.X_range; |
Hy = (((int32_t)(MM3.y_axis - MM3_calib.Y_off)) * 1024) / (int32_t)MM3_calib.Y_range; |
Hz = (((int32_t)(MM3.z_axis - MM3_calib.Z_off)) * 1024) / (int32_t)MM3_calib.Z_range; |
// Compensate the angle of the MM3-arrow to the head of the MK by a yaw rotation transformation |
// assuming the MM3 board is mounted parallel to the frame. |
// User Param 4 is used to define the positive angle from the MM3-arrow to the MK heading |
// in a top view counter clockwise direction. |
// North is in opposite direction of the small arrow on the MM3 board. |
// Therefore 180 deg must be added to that angle. |
angle = ((int16_t)ParamSet.UserParam4 + 180); |
// wrap angle to interval of 0°- 359° |
angle += 360; |
angle %= 360; |
sin_yaw = (int32_t)(c_sin_8192(angle)); |
cos_yaw = (int32_t)(c_cos_8192(angle)); |
Hx_corr = Hx; |
Hy_corr = Hy; |
// rotate |
Hx = (Hx_corr * cos_yaw - Hy_corr * sin_yaw) / 8192; |
Hy = (Hx_corr * sin_yaw + Hy_corr * cos_yaw) / 8192; |
// tilt compensation |
// calculate sinus cosinus of nick and tilt angle |
angle = (int16_t)(IntegralGyroNick/GYRO_DEG_FACTOR); |
sin_nick = (int32_t)(c_sin_8192(angle)); |
cos_nick = (int32_t)(c_cos_8192(angle)); |
angle = (int16_t)(IntegralGyroRoll/GYRO_DEG_FACTOR); |
sin_roll = (int32_t)(c_sin_8192(angle)); |
cos_roll = (int32_t)(c_cos_8192(angle)); |
Hx_corr = Hx * cos_nick; |
Hx_corr -= Hz * sin_nick; |
Hx_corr /= 8192; |
Hy_corr = Hy * cos_roll; |
Hy_corr += Hz * sin_roll; |
Hy_corr /= 8192; |
// calculate Heading |
heading = c_atan2(Hy_corr, Hx_corr); |
// atan returns angular range from -180 deg to 180 deg in counter clockwise notation |
// but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
if (heading < 0) heading = -heading; |
else heading = 360 - heading; |
} |
else // MM3_Timeout = 0 i.e now new data from external board |
{ |
if(!BeepTime) BeepTime = 100; // make noise to signal the compass problem |
heading = -1; |
} |
// update compass values in fc variables |
CompassHeading = heading; |
if (CompassHeading < 0) CompassOffCourse = 0; |
else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/mm3.h |
---|
0,0 → 1,29 |
#ifndef _MM3_H |
#define _MM3_H |
typedef struct |
{ |
int8_t X_off; |
int8_t Y_off; |
int8_t Z_off; |
int16_t X_range; |
int16_t Y_range; |
int16_t Z_range; |
} MM3_calib_t; |
extern MM3_calib_t MM3_calib; |
// Initialization of the MM3 communication |
void MM3_Init(void); |
// should be called cyclic to get actual compass axis readings |
void MM3_Update(void); |
// this function calibrates the MM3 |
// and returns immediately if the communication to the MM3-Board is broken. |
void MM3_Calibrate(void); |
// update compass heading |
void MM3_Heading(void); |
#endif //_MM3_H |
/branches/Nick666/V0.74d Code Redesign killagreg/mymath.c |
---|
0,0 → 1,100 |
#include <stdlib.h> |
#include <avr/pgmspace.h> |
#include "mymath.h" |
// discrete mathematics |
// Sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
const uint16_t pgm_sinlookup[91] PROGMEM = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192}; |
int16_t c_sin_8192(int16_t angle) |
{ |
int8_t m,n; |
int16_t sinus; |
// avoid negative angles |
if (angle < 0) |
{ |
m = -1; |
angle = abs(angle); |
} |
else m = +1; |
// fold angle to intervall 0 to 359 |
angle %= 360; |
// check quadrant |
if (angle <= 90) n=1; // first quadrant |
else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant |
else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant |
else {angle = 360 - angle; n = -1;} //fourth quadrant |
// get lookup value |
sinus = pgm_read_word(&pgm_sinlookup[angle]); |
// calculate sinus value |
return (sinus * m * n); |
} |
// Cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
int16_t c_cos_8192(int16_t angle) |
{ |
return (c_sin_8192(90 - angle)); |
} |
// Arcustangens returns degree in a range of +/. 180 deg |
const uint8_t pgm_atanlookup[346] PROGMEM = {0,1,2,3,4,4,5,6,7,8,9,10,11,11,12,13,14,15,16,17,17,18,19,20,21,21,22,23,24,24,25,26,27,27,28,29,29,30,31,31,32,33,33,34,35,35,36,36,37,37,38,39,39,40,40,41,41,42,42,43,43,44,44,45,45,45,46,46,47,47,48,48,48,49,49,50,50,50,51,51,51,52,52,52,53,53,53,54,54,54,55,55,55,55,56,56,56,57,57,57,57,58,58,58,58,59,59,59,59,60,60,60,60,60,61,61,61,61,62,62,62,62,62,63,63,63,63,63,63,64,64,64,64,64,64,65,65,65,65,65,65,66,66,66,66,66,66,66,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
int16_t c_atan2(int16_t y, int16_t x) |
{ |
int16_t index, angle; |
int8_t m; |
if (!x && !y) return 0; //atan2(0, 0) is undefined |
if (y < 0) m = -1; |
else m = 1; |
if (!x) return (90 * m); // atan2(y,0) = +/- 90 deg |
index = (int16_t)(((int32_t)y * 64) / x);// calculate index for lookup table |
if (index < 0) index = -index; |
if (index < 346) angle = pgm_read_byte(&pgm_atanlookup[index]); // lookup for 0 deg to 79 deg |
else if (index > 7334) angle = 90; // limit is 90 deg |
else if (index > 2444) angle = 89; // 89 deg to 80 deg is mapped via intervalls |
else if (index > 1465) angle = 88; |
else if (index > 1046) angle = 87; |
else if (index > 813) angle = 86; |
else if (index > 664) angle = 85; |
else if (index > 561) angle = 84; |
else if (index > 486) angle = 83; |
else if (index > 428) angle = 82; |
else if (index > 382) angle = 81; |
else angle = 80; // (index>345) |
if (x > 0) return (angle * m); // 1st and 4th quadrant |
else if ((x < 0) && (m > 0)) return (180 - angle); // 2nd quadrant |
else return (angle - 180); // ( (x < 0) && (y < 0)) 3rd quadrant |
} |
// integer square root |
uint32_t c_sqrt(uint32_t number) |
{ |
if(!number) return 0; |
uint32_t s1, s2; |
uint8_t iter = 0; |
// initialization of iteration |
s2 = number; |
do // iterative formula to solve x^2 - n = 0 |
{ |
s1 = s2; |
s2 = number / s1; |
s2 += s1; |
s2 /= 2; |
iter++; |
//if(iter > 40) break; |
}while( ( (s1-s2) > 1) && (iter < 40)); |
return s2; |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/mymath.h |
---|
0,0 → 1,11 |
#ifndef _MYMATH_H |
#define _MYMATH_H |
#include <inttypes.h> |
extern int16_t c_sin_8192(int16_t angle); |
extern int16_t c_cos_8192(int16_t angle); |
extern int16_t c_atan2(int16_t y, int16_t x); |
extern uint32_t c_sqrt(uint32_t number); |
#endif // _MYMATH_H |
/branches/Nick666/V0.74d Code Redesign killagreg/old_macros.h |
---|
0,0 → 1,47 |
/* |
For backwards compatibility only. |
Ingo Busker ingo@mikrocontroller.com |
*/ |
#ifndef cbi |
#define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
#endif |
#ifndef sbi |
#define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
#endif |
#ifndef inb |
#define inb(sfr) _SFR_BYTE(sfr) |
#endif |
#ifndef outb |
#define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
#endif |
#ifndef inw |
#define inw(sfr) _SFR_WORD(sfr) |
#endif |
#ifndef outw |
#define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
#endif |
#ifndef outp |
#define outp(val, sfr) outb(sfr, val) |
#endif |
#ifndef inp |
#define inp(sfr) inb(sfr) |
#endif |
#ifndef BV |
#define BV(bit) _BV(bit) |
#endif |
#ifndef PRG_RDB |
#define PRG_RDB pgm_read_byte |
#endif |
/branches/Nick666/V0.74d Code Redesign killagreg/printf_P.c |
---|
0,0 → 1,483 |
// Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
/* |
Copyright (C) 1993 Free Software Foundation |
This file is part of the GNU IO Library. This library is free |
software; you can redistribute it and/or modify it under the |
terms of the GNU General Public License as published by the |
Free Software Foundation; either version 2, or (at your option) |
any later version. |
This library is distributed in the hope that it will be useful, |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
GNU General Public License for more details. |
You should have received a copy of the GNU General Public License |
along with this library; see the file COPYING. If not, write to the Free |
Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
As a special exception, if you link this library with files |
compiled with a GNU compiler to produce an executable, this does not cause |
the resulting executable to be covered by the GNU General Public License. |
This exception does not however invalidate any other reasons why |
the executable file might be covered by the GNU General Public License. */ |
/* |
* Copyright (c) 1990 Regents of the University of California. |
* All rights reserved. |
* |
* Redistribution and use in source and binary forms, with or without |
* modification, are permitted provided that the following conditions |
* are met: |
* 1. Redistributions of source code must retain the above copyright |
* notice, this list of conditions and the following disclaimer. |
* 2. Redistributions in binary form must reproduce the above copyright |
* notice, this list of conditions and the following disclaimer in the |
* documentation and/or other materials provided with the distribution. |
* 3. [rescinded 22 July 1999] |
* 4. Neither the name of the University nor the names of its contributors |
* may be used to endorse or promote products derived from this software |
* without specific prior written permission. |
* |
* THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
* ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
* SUCH DAMAGE. |
*/ |
/****************************************************************************** |
This file is a patched version of printf called _printf_P |
It is made to work with avr-gcc for Atmel AVR MCUs. |
There are some differences from standard printf: |
1. There is no floating point support (with fp the code is about 8K!) |
2. Return type is void |
3. Format string must be in program memory (by using macro printf this is |
done automaticaly) |
4. %n is not implemented (just remove the comment around it if you need it) |
5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
folowing specifiers are disabled : |
space # * . - + p s o O |
6. A function void uart_sendchar(char c) is used for output. The UART must |
be initialized before using printf. |
Alexander Popov |
sasho@vip.orbitel.bg |
******************************************************************************/ |
/* |
* Actual printf innards. |
* |
* This code is large and complicated... |
*/ |
#include <string.h> |
#ifdef __STDC__ |
#include <stdarg.h> |
#else |
#include <varargs.h> |
#endif |
#include "old_macros.h" |
#include "printf_P.h" |
#include "menu.h" |
#include "uart0.h" |
//#define LIGHTPRINTF |
char PrintZiel; |
char Putchar(char zeichen) |
{ |
if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
else return(uart_putchar(zeichen)); |
} |
void PRINT(const char * ptr, unsigned int len) |
{ |
for(;len;len--) Putchar(*ptr++); |
} |
void PRINTP(const char * ptr, unsigned int len) |
{ |
for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
} |
void PAD_SP(signed char howmany) |
{ |
for(;howmany>0;howmany--) Putchar(' '); |
} |
void PAD_0(signed char howmany) |
{ |
for(;howmany>0;howmany--) Putchar('0'); |
} |
#define BUF 40 |
/* |
* Macros for converting digits to letters and vice versa |
*/ |
#define to_digit(c) ((c) - '0') |
#define is_digit(c) ((c)<='9' && (c)>='0') |
#define to_char(n) ((n) + '0') |
/* |
* Flags used during conversion. |
*/ |
#define LONGINT 0x01 /* long integer */ |
#define LONGDBL 0x02 /* long double; unimplemented */ |
#define SHORTINT 0x04 /* short integer */ |
#define ALT 0x08 /* alternate form */ |
#define LADJUST 0x10 /* left adjustment */ |
#define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
#define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
{ |
va_list ap; |
register const char *fmt; /* format string */ |
register char ch; /* character from fmt */ |
register int n; /* handy integer (short term usage) */ |
register char *cp; /* handy char pointer (short term usage) */ |
const char *fmark; /* for remembering a place in fmt */ |
register unsigned char flags; /* flags as above */ |
signed char width; /* width from format (%8d), or 0 */ |
signed char prec; /* precision from format (%.3d), or -1 */ |
char sign; /* sign prefix (' ', '+', '-', or \0) */ |
unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
#define OCT 8 |
#define DEC 10 |
#define HEX 16 |
unsigned char base; /* base for [diouxX] conversion */ |
signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
signed char dpad; /* extra 0 padding needed for integers */ |
signed char fieldsz; /* field size expanded by sign, dpad etc */ |
/* The initialization of 'size' is to suppress a warning that |
'size' might be used unitialized. It seems gcc can't |
quite grok this spaghetti code ... */ |
signed char size = 0; /* size of converted field or string */ |
char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
char ox[2]; /* space for 0x hex-prefix */ |
PrintZiel = ziel; // bestimmt, LCD oder UART |
va_start(ap, fmt0); |
fmt = fmt0; |
/* |
* Scan the format for conversions (`%' character). |
*/ |
for (;;) { |
for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
/* void */; |
if ((n = fmt - fmark) != 0) { |
PRINTP(fmark, n); |
} |
if (ch == '\0') |
goto done; |
fmt++; /* skip over '%' */ |
flags = 0; |
dprec = 0; |
width = 0; |
prec = -1; |
sign = '\0'; |
rflag: ch = PRG_RDB(fmt++); |
reswitch: |
#ifdef LIGHTPRINTF |
if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
#else |
if (ch=='u' || (ch|0x20)=='x') { |
#endif |
if (flags&LONGINT) { |
_ulong=va_arg(ap, unsigned long); |
} else { |
register unsigned int _d; |
_d=va_arg(ap, unsigned int); |
_ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
} |
} |
#ifndef LIGHTPRINTF |
if(ch==' ') { |
/* |
* ``If the space and + flags both appear, the space |
* flag will be ignored.'' |
* -- ANSI X3J11 |
*/ |
if (!sign) |
sign = ' '; |
goto rflag; |
} else if (ch=='#') { |
flags |= ALT; |
goto rflag; |
} else if (ch=='*'||ch=='-') { |
if (ch=='*') { |
/* |
* ``A negative field width argument is taken as a |
* - flag followed by a positive field width.'' |
* -- ANSI X3J11 |
* They don't exclude field widths read from args. |
*/ |
if ((width = va_arg(ap, int)) >= 0) |
goto rflag; |
width = -width; |
} |
flags |= LADJUST; |
flags &= ~ZEROPAD; /* '-' disables '0' */ |
goto rflag; |
} else if (ch=='+') { |
sign = '+'; |
goto rflag; |
} else if (ch=='.') { |
if ((ch = PRG_RDB(fmt++)) == '*') { |
n = va_arg(ap, int); |
prec = n < 0 ? -1 : n; |
goto rflag; |
} |
n = 0; |
while (is_digit(ch)) { |
n = n*10 + to_digit(ch); |
ch = PRG_RDB(fmt++); |
} |
prec = n < 0 ? -1 : n; |
goto reswitch; |
} else |
#endif /* LIGHTPRINTF */ |
if (ch=='0') { |
/* |
* ``Note that 0 is taken as a flag, not as the |
* beginning of a field width.'' |
* -- ANSI X3J11 |
*/ |
if (!(flags & LADJUST)) |
flags |= ZEROPAD; /* '-' disables '0' */ |
goto rflag; |
} else if (ch>='1' && ch<='9') { |
n = 0; |
do { |
n = 10 * n + to_digit(ch); |
ch = PRG_RDB(fmt++); |
} while (is_digit(ch)); |
width = n; |
goto reswitch; |
} else if (ch=='h') { |
flags |= SHORTINT; |
goto rflag; |
} else if (ch=='l') { |
flags |= LONGINT; |
goto rflag; |
} else if (ch=='c') { |
*(cp = buf) = va_arg(ap, int); |
size = 1; |
sign = '\0'; |
} else if (ch=='D'||ch=='d'||ch=='i') { |
if(ch=='D') |
flags |= LONGINT; |
if (flags&LONGINT) { |
_ulong=va_arg(ap, long); |
} else { |
register int _d; |
_d=va_arg(ap, int); |
_ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
} |
if ((long)_ulong < 0) { |
_ulong = -_ulong; |
sign = '-'; |
} |
base = DEC; |
goto number; |
} else |
/* |
if (ch=='n') { |
if (flags & LONGINT) |
*va_arg(ap, long *) = ret; |
else if (flags & SHORTINT) |
*va_arg(ap, short *) = ret; |
else |
*va_arg(ap, int *) = ret; |
continue; // no output |
} else |
*/ |
#ifndef LIGHTPRINTF |
if (ch=='O'||ch=='o') { |
if (ch=='O') |
flags |= LONGINT; |
base = OCT; |
goto nosign; |
} else if (ch=='p') { |
/* |
* ``The argument shall be a pointer to void. The |
* value of the pointer is converted to a sequence |
* of printable characters, in an implementation- |
* defined manner.'' |
* -- ANSI X3J11 |
*/ |
/* NOSTRICT */ |
_ulong = (unsigned int)va_arg(ap, void *); |
base = HEX; |
flags |= HEXPREFIX; |
ch = 'x'; |
goto nosign; |
} else if (ch=='s') { // print a string from RAM |
if ((cp = va_arg(ap, char *)) == NULL) { |
cp=buf; |
cp[0] = '('; |
cp[1] = 'n'; |
cp[2] = 'u'; |
cp[4] = cp[3] = 'l'; |
cp[5] = ')'; |
cp[6] = '\0'; |
} |
if (prec >= 0) { |
/* |
* can't use strlen; can only look for the |
* NUL in the first `prec' characters, and |
* strlen() will go further. |
*/ |
char *p = (char*)memchr(cp, 0, prec); |
if (p != NULL) { |
size = p - cp; |
if (size > prec) |
size = prec; |
} else |
size = prec; |
} else |
size = strlen(cp); |
sign = '\0'; |
} else |
#endif /* LIGHTPRINTF */ |
if(ch=='U'||ch=='u') { |
if (ch=='U') |
flags |= LONGINT; |
base = DEC; |
goto nosign; |
} else if (ch=='X'||ch=='x') { |
base = HEX; |
/* leading 0x/X only if non-zero */ |
if (flags & ALT && _ulong != 0) |
flags |= HEXPREFIX; |
/* unsigned conversions */ |
nosign: sign = '\0'; |
/* |
* ``... diouXx conversions ... if a precision is |
* specified, the 0 flag will be ignored.'' |
* -- ANSI X3J11 |
*/ |
number: if ((dprec = prec) >= 0) |
flags &= ~ZEROPAD; |
/* |
* ``The result of converting a zero value with an |
* explicit precision of zero is no characters.'' |
* -- ANSI X3J11 |
*/ |
cp = buf + BUF; |
if (_ulong != 0 || prec != 0) { |
register unsigned char _d,notlastdigit; |
do { |
notlastdigit=(_ulong>=base); |
_d = _ulong % base; |
if (_d<10) { |
_d+='0'; |
} else { |
_d+='a'-10; |
if (ch=='X') _d&=~0x20; |
} |
*--cp=_d; |
_ulong /= base; |
} while (notlastdigit); |
#ifndef LIGHTPRINTF |
// handle octal leading 0 |
if (base==OCT && flags & ALT && *cp != '0') |
*--cp = '0'; |
#endif |
} |
size = buf + BUF - cp; |
} else { //default |
/* "%?" prints ?, unless ? is NUL */ |
if (ch == '\0') |
goto done; |
/* pretend it was %c with argument ch */ |
cp = buf; |
*cp = ch; |
size = 1; |
sign = '\0'; |
} |
/* |
* All reasonable formats wind up here. At this point, |
* `cp' points to a string which (if not flags&LADJUST) |
* should be padded out to `width' places. If |
* flags&ZEROPAD, it should first be prefixed by any |
* sign or other prefix; otherwise, it should be blank |
* padded before the prefix is emitted. After any |
* left-hand padding and prefixing, emit zeroes |
* required by a decimal [diouxX] precision, then print |
* the string proper, then emit zeroes required by any |
* leftover floating precision; finally, if LADJUST, |
* pad with blanks. |
*/ |
/* |
* compute actual size, so we know how much to pad. |
*/ |
fieldsz = size; |
dpad = dprec - size; |
if (dpad < 0) |
dpad = 0; |
if (sign) |
fieldsz++; |
else if (flags & HEXPREFIX) |
fieldsz += 2; |
fieldsz += dpad; |
/* right-adjusting blank padding */ |
if ((flags & (LADJUST|ZEROPAD)) == 0) |
PAD_SP(width - fieldsz); |
/* prefix */ |
if (sign) { |
PRINT(&sign, 1); |
} else if (flags & HEXPREFIX) { |
ox[0] = '0'; |
ox[1] = ch; |
PRINT(ox, 2); |
} |
/* right-adjusting zero padding */ |
if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
PAD_0(width - fieldsz); |
/* leading zeroes from decimal precision */ |
PAD_0(dpad); |
/* the string or number proper */ |
PRINT(cp, size); |
/* left-adjusting padding (always blank) */ |
if (flags & LADJUST) |
PAD_SP(width - fieldsz); |
} |
done: |
va_end(ap); |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/printf_P.h |
---|
0,0 → 1,19 |
#ifndef _PRINTF_P_H_ |
#define _PRINTF_P_H_ |
#include <avr/pgmspace.h> |
#define OUT_V24 0 |
#define OUT_LCD 1 |
void _printf_P (char, char const *fmt0, ...); |
extern char PrintZiel; |
#define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
#define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
#define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
#define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
#endif |
/branches/Nick666/V0.74d Code Redesign killagreg/rc.c |
---|
0,0 → 1,209 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <stdlib.h> |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include "rc.h" |
#include "main.h" |
volatile int16_t PPM_in[15]; //PPM24 supports 12 channels per frame |
volatile int16_t PPM_diff[15]; |
volatile uint8_t NewPpmData = 1; |
volatile int16_t RC_Quality = 0; |
/***************************************************************/ |
/* 16bit timer 1 is used to decode the PPM-Signal */ |
/***************************************************************/ |
void RC_Init (void) |
{ |
uint8_t sreg = SREG; |
// disable all interrupts before reconfiguration |
cli(); |
// PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
DDRD &= ~(1<<DDD6); |
PORTD |= (1<<PORTD6); |
// Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
// set as output |
DDRD |= (1<<DDD5)|(1<<DDD4); |
// low level |
PORTD &= ~((1<<PORTD5)|(1<<PORTD4)); |
// 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); |
} |
// Timer/Counter1 Control Register A, B, C |
// Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
// Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
// Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
// Enable input capture noise cancler (bit: ICNC1=1) |
// Trigger on positive edge of the input capture pin (bit: ICES1=1), |
// Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
// The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
// Timer/Counter1 Interrupt Mask Register |
// Enable Input Capture Interrupt (bit: ICIE1=1) |
// Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
// Enable Overflow Interrupt (bit: TOIE1=0) |
TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)|(1<<TOIE1)); |
TIMSK1 |= (1<<ICIE1); |
RC_Quality = 0; |
SREG = sreg; |
} |
/********************************************************************/ |
/* Every time a positive edge is detected at PD6 */ |
/********************************************************************/ |
/* t-Frame |
<-----------------------------------------------------------------------> |
____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | |
| | | | | | | | | | | |
___| |_| |_| |_| |_.............| |________________| |
<-----><-------><------><--------> <------> <--- |
t0 t1 t2 t4 tn t0 |
The PPM-Frame length is 22.5 ms. |
Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
the syncronization gap. |
*/ |
ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
{ |
int16_t signal = 0, tmp; |
static int16_t index; |
static uint16_t oldICR1 = 0; |
// 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
// at the time the edge was detected |
// calculate the time delay to the previous event time which is stored in oldICR1 |
// calculatiing the difference of the two uint16_t and converting the result to an int16_t |
// implicit handles a timer overflow 65535 -> 0 the right way. |
signal = (uint16_t) ICR1 - oldICR1; |
oldICR1 = ICR1; |
//sync gap? (3.52 ms < signal < 25.6 ms) |
if((signal > 1100) && (signal < 8000)) |
{ |
// if a sync gap happens and there where at least 4 channels decoded before |
// then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
if(index >= 4) |
{ |
NewPpmData = 0; // Null means NewData for the first 4 channels |
} |
// synchronize channel index |
index = 1; |
} |
else // within the PPM frame |
{ |
if(index < 14) // PPM24 supports 12 channels |
{ |
// check for valid signal length (0.8 ms < signal < 2.1984 ms) |
// signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
if((signal > 250) && (signal < 687)) |
{ |
// shift signal to zero symmetric range -154 to 159 |
signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
// check for stable signal |
if(abs(signal - PPM_in[index]) < 6) |
{ |
if(RC_Quality < 200) RC_Quality +=10; |
else RC_Quality = 200; |
} |
// calculate exponential history for signal |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
// calculate signal difference on good signal level |
if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; // update channel value |
} |
index++; // next channel |
// 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; |
} |
} |
} |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/rc.h |
---|
0,0 → 1,25 |
#ifndef _RC_H |
#define _RC_H |
#include <inttypes.h> |
#define J3HIGH PORTD |= (1<<PORTD5) |
#define J3LOW PORTD &= ~(1<<PORTD5) |
#define J3TOGGLE PORTD ^= (1<<PORTD5) |
#define J4HIGH PORTD |= (1<<PORTD4) |
#define J4LOW PORTD &= ~(1<<PORTD4) |
#define J4TOGGLE PORTD ^= (1<<PORTD4) |
#define J5HIGH PORTD |= (1<<PORTD3) |
#define J5LOW PORTD &= ~(1<<PORTD3) |
#define J5TOGGLE PORTD ^= (1<<PORTD3) |
extern void RC_Init (void); |
extern volatile int16_t PPM_in[15]; // the RC-Signal |
extern volatile int16_t PPM_diff[15]; // the differentiated RC-Signal |
extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame |
extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
#endif //_RC_H |
/branches/Nick666/V0.74d Code Redesign killagreg/spectrum.c |
---|
0,0 → 1,310 |
/*####################################################################################### |
Decodieren eines RC Summen Signals oder Spektrum Empfänger-Satellit |
#######################################################################################*/ |
#include "Spectrum.h" |
#include "main.h" |
//--------------------------------------------------------------// |
//--------------------------------------------------------------// |
void SpektrumBinding(void) |
{ |
unsigned int timerTimeout = SetDelay(10000); // Timeout 10 sec. |
unsigned char connected = 0; |
unsigned int delaycounter; |
UCSR1B &= ~(1 << RXCIE1); // disable rx-interrupt |
UCSR1B &= ~(1<<RXEN1); // disable Uart-Rx |
PORTD &= ~(1 << PORTD2); // disable pull-up |
printf("\n\rPlease connect Spektrum receiver for binding NOW..."); |
while(!CheckDelay(timerTimeout)) |
{ |
if (PIND & (1 << PORTD2)) { timerTimeout = SetDelay(90); connected = 1; break; } |
} |
if (connected) |
{ |
printf("ok.\n\r"); |
DDRD |= (1 << DDD2); // Rx as output |
while(!CheckDelay(timerTimeout)); // delay after startup of RX |
for (delaycounter = 0; delaycounter < 100; delaycounter++) PORTD |= (1 << PORTD2); |
for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD &= ~(1 << PORTD2); |
for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD |= (1 << PORTD2); |
for (delaycounter = 0; delaycounter < 10; delaycounter++) PORTD &= ~(1 << PORTD2); |
for (delaycounter = 0; delaycounter < 400; delaycounter++) PORTD |= (1 << PORTD2); |
} |
else |
{ printf("Timeout.\n\r"); |
} |
DDRD &= ~(1 << DDD2); // RX as input |
PORTD &= ~(1 << PORTD2); |
Uart1Init(); // init Uart again |
} |
//############################################################################ |
// zum Decodieren des Spektrum Satelliten wird USART1 benutzt. |
// USART1 initialisation from killagreg |
void Uart1Init(void) |
//############################################################################ |
{ |
// -- Start of USART1 initialisation for Spekturm seriell-mode |
// USART1 Control and Status Register A, B, C and baud rate register |
uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 115200) - 1); |
// 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); |
// 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<<RXEN1)|(1<<TXEN1); |
UCSR1B = (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 RX-interrupts at the end |
UCSR1B |= (1 << RXCIE1); |
// -- End of USART1 initialisation |
return; |
} |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Rainer Walther |
// + RC-routines from original MK rc.c (c) H&I |
// + Useful infos from Walter: http://www.rcgroups.com/forums/showthread.php?t=714299&page=2 |
// + only for non-profit use |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// |
// 20080808 rw Modified for Spektrum AR6100 (PPM) |
// 20080823 rw Add Spektrum satellite receiver on USART1 (644P only) |
// 20081213 rw Add support for Spektrum DS9 Air-Tx-Module (9 channels) |
// Replace AR6100-coding with original composit-signal routines |
// |
// --- |
// Entweder Summensignal ODER Spektrum-Receiver anschließen. Nicht beides gleichzeitig betreiben! |
// Binding is not implemented. Bind with external Receiver. |
// Servo output J3, J4, J5 not serviced |
// |
// Anschuß Spektrum Receiver |
// Orange: 3V von der FC (keinesfalls an 5V anschließen!) |
// Schwarz: GND |
// Grau: RXD1 (Pin 3) auf 10-Pol FC-Stecker |
// |
// --- |
// Satellite-Reciever connected on USART1: |
// |
// DX7/DX6i: One data-frame at 115200 baud every 22ms. |
// DX7se: One data-frame at 115200 baud every 11ms. |
// byte1: unknown |
// byte2: unknown |
// byte3: and byte4: channel data (FLT-Mode) |
// byte5: and byte6: channel data (Roll) |
// byte7: and byte8: channel data (Nick) |
// byte9: and byte10: channel data (Gier) |
// byte11: and byte12: channel data (Gear Switch) |
// byte13: and byte14: channel data (Gas) |
// byte15: and byte16: channel data (AUX2) |
// |
// DS9 (9 Channel): One data-frame at 115200 baud every 11ms, alternating frame 1/2 for CH1-7 / CH8-9 |
// 1st Frame: |
// byte1: unknown |
// byte2: unknown |
// byte3: and byte4: channel data |
// byte5: and byte6: channel data |
// byte7: and byte8: channel data |
// byte9: and byte10: channel data |
// byte11: and byte12: channel data |
// byte13: and byte14: channel data |
// byte15: and byte16: channel data |
// 2nd Frame: |
// byte1: unknown |
// byte2: unknown |
// byte3: and byte4: channel data |
// byte5: and byte6: channel data |
// byte7: and byte8: 0xffff |
// byte9: and byte10: 0xffff |
// byte11: and byte12: 0xffff |
// byte13: and byte14: 0xffff |
// byte15: and byte16: 0xffff |
// |
// Each channel data (16 bit= 2byte, first msb, second lsb) is arranged as: |
// |
// Bits: F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0 |
// |
// 0 means a '0' bit |
// F: 1 = indicates beginning of 2nd frame for CH8-9 (DS9 only) |
// C3 to C0 is the channel number. 0 to 9 (4 bit, as assigned in the transmitter) |
// D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for 100% transmitter-travel |
// |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//############################################################################ |
//Diese Routine startet und inizialisiert den USART1 für seriellen Spektrum satellite reciever |
SIGNAL(USART1_RX_vect) |
//############################################################################ |
{ |
static unsigned int Sync=0, FrameCnt=0, ByteHigh=0, ReSync=1, Frame2=0, FrameTimer; |
unsigned int Channel, index; |
signed int signal, tmp; |
int bCheckDelay; |
uint8_t c; |
c = UDR1; // get data byte |
if (ReSync == 1) |
{ |
// wait for beginning of new frame |
ReSync = 0; |
FrameTimer = SetDelay(7); // minimum 7ms zwischen den frames |
FrameCnt = 0; |
Sync = 0; |
ByteHigh = 0; |
} |
else |
{ |
bCheckDelay = CheckDelay(FrameTimer); |
if ( Sync == 0 ) |
{ |
if(bCheckDelay) |
{ |
// nach einer Pause von mind. 7ms erstes Sync-Character gefunden |
// Zeichen ignorieren, da Bedeutung unbekannt |
Sync = 1; |
FrameCnt ++; |
} |
else |
{ |
// Zeichen kam vor Ablauf der 7ms Sync-Pause |
// warten auf erstes Sync-Zeichen |
} |
} |
else if((Sync == 1) && !bCheckDelay) |
{ |
// zweites Sync-Character ignorieren, Bedeutung unbekannt |
Sync = 2; |
FrameCnt ++; |
} |
else if((Sync == 2) && !bCheckDelay) |
{ |
// Datenbyte high |
ByteHigh = c; |
if (FrameCnt == 2) |
{ |
// is 1st Byte of Channel-data |
// Frame 1 with Channel 1-7 comming next |
Frame2 = 0; |
if(ByteHigh & 0x80) |
{ |
// DS9: Frame 2 with Channel 8-9 comming next |
Frame2 = 1; |
} |
} |
Sync = 3; |
FrameCnt ++; |
} |
else if((Sync == 3) && !bCheckDelay) |
{ |
// Datenbyte low |
// High-Byte for next channel comes next |
Sync = 2; |
FrameCnt ++; |
index = (ByteHigh >> 2) & 0x0f; |
index ++; |
Channel = (ByteHigh << 8) | c; |
signal = Channel & 0x3ff; |
signal -= 0x200; // Offset, range 0x000..0x3ff? |
signal = signal/3; // scaling to fit PPM resolution |
if(index >= 0 && index <= 10) |
{ |
// Stabiles Signal |
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
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; |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; |
} |
} |
else |
{ |
// hier stimmt was nicht: neu synchronisieren |
ReSync = 1; |
FrameCnt = 0; |
Frame2 = 0; |
} |
// 16 Bytes per frame |
if(FrameCnt >= 16) |
{ |
// Frame complete |
if(Frame2 == 0) |
{ |
// Null bedeutet: Neue Daten |
// nur beim ersten Frame (CH 0-7) setzen |
NewPpmData = 0; |
} |
// new frame next, nach fruehestens 7ms erwartet |
FrameCnt = 0; |
Frame2 = 0; |
Sync = 0; |
} |
// Zeit bis zum nächsten Zeichen messen |
FrameTimer = SetDelay(7); |
} |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/spectrum.h |
---|
0,0 → 1,9 |
/*####################################################################################### |
Dekodieren eines Spectrum Signals |
#######################################################################################*/ |
#ifndef _SPECTRUM_H |
#define _SPECTRUM_H |
void Uart1Init(void); |
void SpektrumBinding(void); |
#endif //_RC_H |
/branches/Nick666/V0.74d Code Redesign killagreg/spi.c |
---|
0,0 → 1,458 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <string.h> |
#include <stdlib.h> |
#include "main.h" |
#include "spi.h" |
#include "fc.h" |
#include "rc.h" |
#include "eeprom.h" |
#include "uart0.h" |
#include "timer0.h" |
#include "analog.h" |
//----------------------------------------- |
#define DDR_SPI DDRB |
#define DD_SS PB4 |
#define DD_SCK PB7 |
#define DD_MOSI PB5 |
#define DD_MISO PB6 |
// for compatibility reasons gcc3.x <-> gcc4.x |
#ifndef SPCR |
#define SPCR SPCR0 |
#endif |
#ifndef SPIE |
#define SPIE SPIE0 |
#endif |
#ifndef SPE |
#define SPE SPE0 |
#endif |
#ifndef DORD |
#define DORD DORD0 |
#endif |
#ifndef MSTR |
#define MSTR MSTR0 |
#endif |
#ifndef CPOL |
#define CPOL CPOL0 |
#endif |
#ifndef CPHA |
#define CPHA CPHA0 |
#endif |
#ifndef SPR1 |
#define SPR1 SPR01 |
#endif |
#ifndef SPR0 |
#define SPR0 SPR00 |
#endif |
#ifndef SPDR |
#define SPDR SPDR0 |
#endif |
#ifndef SPSR |
#define SPSR SPSR0 |
#endif |
#ifndef SPIF |
#define SPIF SPIF0 |
#endif |
#ifndef WCOL |
#define WCOL WCOL0 |
#endif |
#ifndef SPI2X |
#define SPI2X SPI2X0 |
#endif |
// ------------------------- |
#define SLAVE_SELECT_DDR_PORT DDRC |
#define SLAVE_SELECT_PORT PORTC |
#define SPI_SLAVE_SELECT PC5 |
#define SPI_TXSYNCBYTE1 0xAA |
#define SPI_TXSYNCBYTE2 0x83 |
#define SPI_RXSYNCBYTE1 0x81 |
#define SPI_RXSYNCBYTE2 0x55 |
typedef enum |
{ |
SPI_SYNC1, |
SPI_SYNC2, |
SPI_DATA |
} SPI_RXState_t; |
// data exchange packets to and From NaviCtrl |
ToNaviCtrl_t ToNaviCtrl; |
FromNaviCtrl_t FromNaviCtrl; |
SPI_VersionInfo_t SPI_VersionInfo; |
// rx packet buffer |
#define SPI_RXBUFFER_LEN sizeof(FromNaviCtrl) |
uint8_t SPI_RxBuffer[SPI_RXBUFFER_LEN]; |
uint8_t SPI_RxBufferIndex = 0; |
uint8_t SPI_RxBuffer_Request = 0; |
// tx packet buffer |
#define SPI_TXBUFFER_LEN sizeof(ToNaviCtrl) |
uint8_t *SPI_TxBuffer; |
uint8_t SPI_TxBufferIndex = 0; |
uint8_t SPITransferCompleted, SPI_ChkSum; |
uint8_t SPI_RxDataValid = 0; |
uint8_t NCDataOkay = 0; |
uint8_t NCSerialDataOkay = 0; |
uint8_t SPI_CommandSequence[] = { SPI_CMD_USER, SPI_CMD_STICK, SPI_CMD_PARAMETER1, SPI_CMD_STICK, SPI_CMD_MISC, SPI_CMD_VERSION }; |
uint8_t SPI_CommandCounter = 0; |
/*********************************************/ |
/* Initialize SPI interface to NaviCtrl */ |
/*********************************************/ |
void SPI_MasterInit(void) |
{ |
DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); // set Slave select port as output port |
SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPR0)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
SPSR = 0;//(1<<SPI2X); |
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // Deselect Slave |
SPI_TxBuffer = (uint8_t *) &ToNaviCtrl; // set pointer to tx-buffer |
SPITransferCompleted = 1; |
// initialize data packet to NaviControl |
ToNaviCtrl.Sync1 = SPI_TXSYNCBYTE1; |
ToNaviCtrl.Sync2 = SPI_TXSYNCBYTE2; |
ToNaviCtrl.Command = SPI_CMD_USER; |
ToNaviCtrl.IntegralNick = 0; |
ToNaviCtrl.IntegralRoll = 0; |
NCSerialDataOkay = 0; |
NCDataOkay = 0; |
SPI_RxDataValid = 0; |
SPI_VersionInfo.Major = VERSION_MAJOR; |
SPI_VersionInfo.Minor = VERSION_MINOR; |
SPI_VersionInfo.Patch = VERSION_PATCH; |
SPI_VersionInfo.Compatible = NC_SPI_COMPATIBLE; |
} |
/**********************************************************/ |
/* Update Data transferd by the SPI from/to NaviCtrl */ |
/**********************************************************/ |
void UpdateSPI_Buffer(void) |
{ |
int16_t tmp; |
cli(); // stop all interrupts to avoid writing of new data during update of that packet. |
// update content of packet to NaviCtrl |
ToNaviCtrl.IntegralNick = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
ToNaviCtrl.IntegralRoll = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
ToNaviCtrl.GyroHeading = (int16_t)((10 * YawGyroHeading) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
ToNaviCtrl.GyroNick = GyroNick; |
ToNaviCtrl.GyroRoll = GyroRoll; |
ToNaviCtrl.GyroYaw = GyroYaw; |
ToNaviCtrl.AccNick = ((int16_t) 10 * ACC_AMPLIFY * (NaviAccNick / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1° |
ToNaviCtrl.AccRoll = ((int16_t) 10 * ACC_AMPLIFY * (NaviAccRoll / NaviCntAcc)) / ACC_DEG_FACTOR; // convert to multiple of 0.1° |
NaviCntAcc = 0; NaviAccNick = 0; NaviAccRoll = 0; |
switch(ToNaviCtrl.Command) |
{ |
case SPI_CMD_USER: |
ToNaviCtrl.Param.Byte[0] = FCParam.UserParam1; |
ToNaviCtrl.Param.Byte[1] = FCParam.UserParam2; |
ToNaviCtrl.Param.Byte[2] = FCParam.UserParam3; |
ToNaviCtrl.Param.Byte[3] = FCParam.UserParam4; |
ToNaviCtrl.Param.Byte[4] = FCParam.UserParam5; |
ToNaviCtrl.Param.Byte[5] = FCParam.UserParam6; |
ToNaviCtrl.Param.Byte[6] = FCParam.UserParam7; |
ToNaviCtrl.Param.Byte[7] = FCParam.UserParam8; |
ToNaviCtrl.Param.Byte[8] = MKFlags; |
MKFlags &= ~(MKFLAG_CALIBRATE | MKFLAG_START); // calibrate and start are temporal states that are cleared immediately after transmitting |
ToNaviCtrl.Param.Byte[9] = (uint8_t)UBat; |
ToNaviCtrl.Param.Byte[10] = ParamSet.LowVoltageWarning; |
ToNaviCtrl.Param.Byte[11] = GetActiveParamSet(); |
break; |
case SPI_CMD_PARAMETER1: |
ToNaviCtrl.Param.Byte[0] = ParamSet.NaviGpsModeControl; // Parameters for the Naviboard |
ToNaviCtrl.Param.Byte[1] = ParamSet.NaviGpsGain; |
ToNaviCtrl.Param.Byte[2] = ParamSet.NaviGpsP; |
ToNaviCtrl.Param.Byte[3] = ParamSet.NaviGpsI; |
ToNaviCtrl.Param.Byte[4] = ParamSet.NaviGpsD; |
ToNaviCtrl.Param.Byte[5] = ParamSet.NaviGpsACC; |
ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsMinSat; |
ToNaviCtrl.Param.Byte[7] = ParamSet.NaviStickThreshold; |
ToNaviCtrl.Param.Byte[8] = ParamSet.NaviOperatingRadius; |
ToNaviCtrl.Param.Byte[9] = ParamSet.NaviWindCorrection; |
ToNaviCtrl.Param.Byte[10] = ParamSet.NaviSpeedCompensation; |
ToNaviCtrl.Param.Byte[11] = ParamSet.NaviAngleLimitation; |
break; |
case SPI_CMD_STICK: |
tmp = PPM_in[ParamSet.ChannelAssignment[CH_GAS]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
ToNaviCtrl.Param.Byte[0] = (int8_t) tmp; |
tmp = PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
ToNaviCtrl.Param.Byte[1] = (int8_t) tmp; |
tmp = PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
ToNaviCtrl.Param.Byte[2] = (int8_t) tmp; |
tmp = PPM_in[ParamSet.ChannelAssignment[CH_NICK]]; if(tmp > 127) tmp = 127; else if(tmp < -128) tmp = -128; |
ToNaviCtrl.Param.Byte[3] = (int8_t) tmp; |
ToNaviCtrl.Param.Byte[4] = (uint8_t) Poti1; |
ToNaviCtrl.Param.Byte[5] = (uint8_t) Poti2; |
ToNaviCtrl.Param.Byte[6] = (uint8_t) Poti3; |
ToNaviCtrl.Param.Byte[7] = (uint8_t) Poti4; |
ToNaviCtrl.Param.Byte[8] = (uint8_t) RC_Quality; |
break; |
case SPI_CMD_MISC: |
ToNaviCtrl.Param.Byte[0] = CompassCalState; |
if(CompassCalState > 4) |
{ // jump from 5 to 0 |
CompassCalState = 0; |
} |
ToNaviCtrl.Param.Byte[1] = ParamSet.NaviPHLoginTime; |
ToNaviCtrl.Param.Int[1] = ReadingHeight; // at address of Byte 2 and 3 |
ToNaviCtrl.Param.Byte[4] = ParamSet.NaviGpsPLimit; |
ToNaviCtrl.Param.Byte[5] = ParamSet.NaviGpsILimit; |
ToNaviCtrl.Param.Byte[6] = ParamSet.NaviGpsDLimit; |
break; |
case SPI_CMD_VERSION: |
ToNaviCtrl.Param.Byte[0] = SPI_VersionInfo.Major; |
ToNaviCtrl.Param.Byte[1] = SPI_VersionInfo.Minor; |
ToNaviCtrl.Param.Byte[2] = SPI_VersionInfo.Patch; |
ToNaviCtrl.Param.Byte[3] = SPI_VersionInfo.Compatible; |
ToNaviCtrl.Param.Byte[4] = BoardRelease; |
break; |
default: |
break; |
} |
sei(); // enable all interrupts |
// analyze content of packet from NaviCtrl if valid |
if (SPI_RxDataValid) |
{ |
// update gps controls |
if(abs(FromNaviCtrl.GPSStickNick) < 512 && abs(FromNaviCtrl.GPSStickRoll) < 512 && (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
{ |
GPSStickNick = FromNaviCtrl.GPSStickNick; |
GPSStickRoll = FromNaviCtrl.GPSStickRoll; |
NCDataOkay = 250; |
} |
// update compass readings |
if(FromNaviCtrl.CompassHeading <= 360) |
{ |
CompassHeading = FromNaviCtrl.CompassHeading; |
} |
if(CompassHeading < 0) CompassOffCourse = 0; |
else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
// NaviCtrl wants to beep? |
if (FromNaviCtrl.BeepTime > BeepTime && !CompassCalState) BeepTime = FromNaviCtrl.BeepTime; |
switch (FromNaviCtrl.Command) |
{ |
case SPI_KALMAN: |
FCParam.KalmanK = FromNaviCtrl.Param.Byte[0]; |
FCParam.KalmanMaxFusion = FromNaviCtrl.Param.Byte[1]; |
FCParam.KalmanMaxDrift = FromNaviCtrl.Param.Byte[2]; |
NCSerialDataOkay = FromNaviCtrl.Param.Byte[3]; |
DebugOut.Analog[29] = NCSerialDataOkay; |
break; |
default: |
break; |
} |
} |
else // no valid data from NaviCtrl |
{ |
// disable GPS control |
GPSStickNick = 0; |
GPSStickRoll = 0; |
} |
} |
/*********************************************/ |
/* Start Transmission of packet to NaviCtrl */ |
/*********************************************/ |
void SPI_StartTransmitPacket(void) |
{ |
if (!SPITransferCompleted) return; // return immediately if transfer is in progress |
else // transmission was completed |
{ |
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // Select slave |
// cyclic commands |
ToNaviCtrl.Command = SPI_CommandSequence[SPI_CommandCounter++]; |
if (SPI_CommandCounter >= sizeof(SPI_CommandSequence)) SPI_CommandCounter = 0; |
SPITransferCompleted = 0; // transfer is in progress |
UpdateSPI_Buffer(); // update data in ToNaviCtrl |
SPI_TxBufferIndex = 1; //proceed with 2nd byte |
// -- Debug-Output --- |
//---- |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
ToNaviCtrl.Chksum = ToNaviCtrl.Sync1; // init checksum |
SPDR = ToNaviCtrl.Sync1; // send first byte |
} |
} |
//------------------------------------------------------ |
// This is the spi data transfer between FlightCtrl and NaviCtrl |
// Every time this routine is called within the mainloop one byte of the packet to |
// the NaviCtrl and one byte of the packet from the NaviCtrl is possible transfered |
void SPI_TransmitByte(void) |
{ |
static SPI_RXState_t SPI_RXState = SPI_SYNC1; |
uint8_t rxdata; |
static uint8_t rxchksum; |
if (SPITransferCompleted) return; // return immediatly if transfer was completed |
if (!(SPSR & (1 << SPIF))) return; // return if no SPI-IRQ pending |
SendSPI = 4; // mait 4 * 0.102 ms for the next call of SPI_TransmitByte() in the main loop |
SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
rxdata = SPDR; // save spi data register |
switch (SPI_RXState) |
{ |
case SPI_SYNC1: // first sync byte |
SPI_RxBufferIndex = 0; // set pointer to start of rx buffer |
rxchksum = rxdata; // initialize checksum |
if (rxdata == SPI_RXSYNCBYTE1 ) |
{ // 1st Syncbyte found |
SPI_RXState = SPI_SYNC2; // trigger to state for second sync byte |
} |
break; |
case SPI_SYNC2: // second sync byte |
if (rxdata == SPI_RXSYNCBYTE2) |
{ // 2nd Syncbyte found |
rxchksum += rxdata; // update checksum |
SPI_RXState = SPI_DATA; // trigger to state for second sync byte |
} |
else // 2nd Syncbyte not found |
{ |
SPI_RXState = SPI_SYNC1; // jump back to 1st sync byte |
} |
break; |
case SPI_DATA: // data bytes |
SPI_RxBuffer[SPI_RxBufferIndex++] = rxdata; // copy data byte to spi buffer |
// if all bytes are received of a packet from the NaviCtrl |
if (SPI_RxBufferIndex >= SPI_RXBUFFER_LEN) |
{ // last byte transfered is the checksum of the packet |
if (rxdata == rxchksum) // checksum matching? |
{ |
// copy SPI_RxBuffer -> FromFlightCtrl |
uint8_t *ptr = (uint8_t *)&FromNaviCtrl; |
cli(); |
memcpy(ptr, (uint8_t *) SPI_RxBuffer, sizeof(FromNaviCtrl)); |
sei(); |
SPI_RxDataValid = 1; |
//DebugOut.Analog[18]++; |
} |
else |
{ // checksum does not match |
//DebugOut.Analog[17]++; |
SPI_RxDataValid = 0; // reset valid flag |
} |
SPI_RXState = SPI_SYNC1; // reset state sync |
} |
else // not all bytes transfered |
{ |
rxchksum += rxdata; // update checksum |
} |
break; |
}// eof switch(SPI_RXState) |
// if still some bytes left for transmission to NaviCtrl |
if (SPI_TxBufferIndex < SPI_TXBUFFER_LEN) |
{ |
SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
SPDR = SPI_TxBuffer[SPI_TxBufferIndex]; // transmit byte |
ToNaviCtrl.Chksum += SPI_TxBuffer[SPI_TxBufferIndex]; // update checksum for everey byte that was sent |
SPI_TxBufferIndex++; |
} |
else |
{ |
//Transfer of all bytes of the packet to NaviCtrl completed |
SPITransferCompleted = 1; |
} |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/spi.h |
---|
0,0 → 1,100 |
// ######################## SPI - FlightCtrl ################### |
#ifndef _SPI_H |
#define _SPI_H |
//#include <util/delay.h> |
#include <inttypes.h> |
#define SPI_PROTOCOL_COMP 1 |
#define SPI_CMD_USER 10 |
#define SPI_CMD_STICK 11 |
#define SPI_CMD_MISC 12 |
#define SPI_CMD_PARAMETER1 13 |
#define SPI_CMD_VERSION 14 |
typedef struct |
{ |
uint8_t Sync1; |
uint8_t Sync2; |
uint8_t Command; |
int16_t IntegralNick; |
int16_t IntegralRoll; |
int16_t AccNick; |
int16_t AccRoll; |
int16_t GyroHeading; |
int16_t GyroNick; |
int16_t GyroRoll; |
int16_t GyroYaw; |
union |
{ |
int8_t sByte[12]; |
uint8_t Byte[12]; |
int16_t Int[6]; |
int32_t Long[3]; |
float Float[3]; |
} Param; |
uint8_t Chksum; |
} __attribute__((packed)) ToNaviCtrl_t; |
#define SPI_CMD_OSD_DATA 100 |
#define SPI_CMD_GPS_POS 101 |
#define SPI_CMD_GPS_TARGET 102 |
#define SPI_KALMAN 103 |
typedef struct |
{ |
uint8_t Command; |
int16_t GPSStickNick; |
int16_t GPSStickRoll; |
int16_t GPS_Yaw; |
int16_t CompassHeading; |
int16_t Status; |
uint16_t BeepTime; |
union |
{ |
int8_t Byte[12]; |
int16_t Int[6]; |
int32_t Long[3]; |
float Float[3]; |
} Param; |
uint8_t Chksum; |
} __attribute__((packed)) FromNaviCtrl_t; |
typedef struct |
{ |
uint8_t Major; |
uint8_t Minor; |
uint8_t Patch; |
uint8_t Compatible; |
} __attribute__((packed)) SPI_VersionInfo_t; |
extern ToNaviCtrl_t ToNaviCtrl; |
extern FromNaviCtrl_t FromNaviCtrl; |
typedef struct |
{ |
int8_t KalmanK; |
int8_t KalmanMaxDrift; |
int8_t KalmanMaxFusion; |
uint8_t SerialDataOkay; |
} __attribute__((packed)) NCData_t; |
extern uint8_t NCDataOkay; |
extern uint8_t NCSerialDataOkay; |
void SPI_MasterInit(void); |
void SPI_StartTransmitPacket(void); |
void SPI_TransmitByte(void); |
#endif //_SPI_H |
/branches/Nick666/V0.74d Code Redesign killagreg/timer0.c |
---|
0,0 → 1,243 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <inttypes.h> |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include "eeprom.h" |
#include "analog.h" |
#include "main.h" |
#include "fc.h" |
#ifdef USE_KILLAGREG |
#include "mm3.h" |
#endif |
#ifdef USE_MK3MAG |
#include "mk3mag.h" |
#endif |
volatile uint8_t Count100uSeconds=0; |
volatile uint16_t CountMilliseconds = 0; |
volatile uint8_t UpdateMotor = 0; |
volatile uint16_t cntKompass = 0; |
volatile uint16_t BeepTime = 0; |
volatile uint16_t BeepModulation = 0xFFFF; |
#ifdef USE_NAVICTRL |
volatile uint8_t SendSPI = 0; |
#endif |
/*****************************************************/ |
/* Initialize Timer 0 */ |
/*****************************************************/ |
// timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
// Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
void TIMER0_Init(void) |
{ |
uint8_t sreg = SREG; |
// disable all interrupts before reconfiguration |
cli(); |
// configure speaker port as output |
if(BoardRelease == 10) |
{ // Speaker at PD2 |
DDRD |= (1<<DDD2); |
PORTD &= ~(1<<PORTD2); |
} |
else |
{ // Speaker at PC7 |
DDRC |= (1<<DDC7); |
PORTC &= ~(1<<PORTC7); |
} |
// set PB3 and PB4 as output for the PWM used as offset for the pressure sensor |
DDRB |= (1<<DDB4)|(1<<DDB3); |
PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
// Timer/Counter 0 Control Register A |
// Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
// Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
// Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0)); |
TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00); |
// Timer/Counter 0 Control Register B |
// set clock divider for timer 0 to SYSKLOCK/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 |
// divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)); |
TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00); |
// initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
OCR0A = 0; // for PB3 |
OCR0B = 120; // for PB4 |
// init Timer/Counter 0 Register |
TCNT0 = 0; |
// Timer/Counter 0 Interrupt Mask Register |
// enable timer overflow interrupt only |
TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
TIMSK0 |= (1<<TOIE0); |
SREG = sreg; |
} |
/*****************************************************/ |
/* Interrupt Routine of Timer 0 */ |
/*****************************************************/ |
ISR(TIMER0_OVF_vect) // 9.765 kHz |
{ |
static uint8_t cnt_1ms = 1,cnt = 0; |
uint8_t Beeper_On = 0; |
Count100uSeconds++; |
#ifdef USE_NAVICTRL |
if(SendSPI) SendSPI--; // if SendSPI is 0, the transmit of a byte via SPI bus to and from The Navicontrol is done |
#endif |
if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz) |
{ |
cnt = 9; |
cnt_1ms++; |
cnt_1ms %= 2; |
if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz) |
CountMilliseconds++; // increment millisecond counter |
} |
// beeper on if duration is not over |
if(BeepTime) |
{ |
BeepTime--; // decrement BeepTime |
if(BeepTime & BeepModulation) Beeper_On = 1; |
else Beeper_On = 0; |
} |
else // beeper off if duration is over |
{ |
Beeper_On = 0; |
BeepModulation = 0xFFFF; |
} |
// if beeper is on |
if(Beeper_On) |
{ |
// set speaker port to high |
if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
else PORTC |= (1<<PORTC7); // Speaker at PC7 |
} |
else // beeper is off |
{ |
// set speaker port to low |
if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
} |
#ifndef USE_NAVICTRL |
// update compass value if this option is enabled in the settings |
if(ParamSet.GlobalConfig & (CFG_COMPASS_ACTIVE|CFG_GPS_ACTIVE)) |
{ |
#ifdef USE_KILLAGREG |
MM3_Update(); // read out mm3 board |
#endif |
#ifdef USE_MK3MAG |
MK3MAG_Update(); // read out mk3mag pwm |
#endif |
} |
#endif |
} |
// ----------------------------------------------------------------------- |
uint16_t SetDelay (uint16_t t) |
{ |
return(CountMilliseconds + t - 1); |
} |
// ----------------------------------------------------------------------- |
int8_t CheckDelay(uint16_t t) |
{ |
return(((t - CountMilliseconds) & 0x8000) >> 8); // check sign bit |
} |
// ----------------------------------------------------------------------- |
void Delay_ms(uint16_t w) |
{ |
uint16_t t_stop; |
t_stop = SetDelay(w); |
while (!CheckDelay(t_stop)); |
} |
// ----------------------------------------------------------------------- |
void Delay_ms_Mess(uint16_t w) |
{ |
uint16_t t_stop; |
t_stop = SetDelay(w); |
while (!CheckDelay(t_stop)) |
{ |
if(ADReady) |
{ |
ADReady = 0; |
ADC_Enable(); |
} |
} |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/timer0.h |
---|
0,0 → 1,22 |
#ifndef _TIMER0_H |
#define _TIMER0_H |
#include <inttypes.h> |
extern volatile uint16_t CountMilliseconds; |
extern volatile uint8_t UpdateMotor; |
extern volatile uint16_t cntKompass; |
extern volatile uint16_t BeepModulation; |
extern volatile uint16_t BeepTime; |
extern volatile uint8_t Count100uSeconds; |
#ifdef USE_NAVICTRL |
extern volatile uint8_t SendSPI; |
#endif |
extern void TIMER0_Init(void); |
extern void Delay_ms(uint16_t w); |
extern void Delay_ms_Mess(uint16_t w); |
extern uint16_t SetDelay (uint16_t t); |
extern int8_t CheckDelay (uint16_t t); |
#endif //_TIMER0_H |
/branches/Nick666/V0.74d Code Redesign killagreg/timer2.c |
---|
0,0 → 1,351 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include "fc.h" |
#include "eeprom.h" |
#include "uart0.h" |
#include "main.h" |
#include "rc.h" |
volatile int16_t ServoNickValue = 0; |
volatile int16_t ServoRollValue = 0; |
volatile uint8_t ServoActive = 0; |
#define HEF4017R_ON PORTC |= (1<<PORTC6) |
#define HEF4017R_OFF PORTC &= ~(1<<PORTC6) |
/*****************************************************/ |
/* Initialize Timer 2 */ |
/*****************************************************/ |
// The timer 2 is used to generate the PWM at PD7 (J7) |
// to control a camera servo for nick compensation. |
void TIMER2_Init(void) |
{ |
uint8_t sreg = SREG; |
// disable all interrupts before reconfiguration |
cli(); |
// set PD7 as output of the PWM for nick servo |
DDRD |= (1<<DDD7); |
PORTD &= ~(1<<PORTD7); // set PD7 to low |
DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
//PORTC &= ~(1<<PORTC6); // set PC6 to low |
HEF4017R_ON; // enable reset |
// Timer/Counter 2 Control Register A |
// Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
// PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
// PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
TCCR2A |= (1<<WGM21)|(1<<WGM20); |
// Timer/Counter 2 Control Register B |
// Set clock divider for timer 2 to SYSKLOCK/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 |
// divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
// Initialize the Timer/Counter 2 Register |
TCNT2 = 0; |
// Initialize the Output Compare Register A used for PWM generation on port PD7. |
OCR2A = 255; |
TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
// Timer/Counter 2 Interrupt Mask Register |
// Enable timer output compare match A Interrupt only |
TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
TIMSK2 |= (1<<OCIE2A); |
SREG = sreg; |
} |
void Servo_On(void) |
{ |
ServoActive = 1; |
} |
void Servo_Off(void) |
{ |
ServoActive = 0; |
HEF4017R_ON; // enable reset |
} |
/*****************************************************/ |
/* Control Servo Position */ |
/*****************************************************/ |
ISR(TIMER2_COMPA_vect) |
{ |
// frame len 22.5 ms = 14063 * 1.6 us |
// stop pulse: 0.3 ms = 188 * 1.6 us |
// min servo pulse: 0.6 ms = 375 * 1.6 us |
// max servo pulse: 2.4 ms = 1500 * 1.6 us |
// resolution: 1500 - 375 = 1125 steps |
#define IRS_RUNTIME 127 |
#define PPM_STOPPULSE 188 |
//#define PPM_FRAMELEN 14063 |
#define PPM_FRAMELEN (1757 * ParamSet.ServoRefresh) // 22.5 ms / 8 Channels = 2.8125ms per Servo Channel |
#define MINSERVOPULSE 375 |
#define MAXSERVOPULSE 1500 |
#define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
static uint8_t PulseOutput = 0; |
static uint16_t RemainingPulse = 0; |
static uint16_t ServoFrameTime = 0; |
static uint8_t ServoIndex = 0; |
#define MULTIPLYER 4 |
static int16_t ServoNickOffset = (255 / 2) * MULTIPLYER; // initial value near center position |
static int16_t ServoRollOffset = (255 / 2) * MULTIPLYER; // initial value near center position |
if(BoardRelease < 20) |
{ |
//--------------------------- |
// Nick servo state machine |
//--------------------------- |
if(!PulseOutput) // pulse output complete |
{ |
if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
{ |
TCCR2A &= ~(1<<COM2A0);// make a high pulse |
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
ServoNickOffset = (ServoNickOffset * 3 + (int16_t)FCParam.ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
if(ParamSet.ServoNickCompInvert & 0x01) |
{ // inverting movement of servo |
ServoNickValue += (int16_t)( ( (int32_t)ParamSet.ServoNickComp * MULTIPLYER * (IntegralGyroNick / 128L ) ) / (256L) ); |
} |
else |
{ // non inverting movement of servo |
ServoNickValue -= (int16_t)( ( (int32_t)ParamSet.ServoNickComp * MULTIPLYER * (IntegralGyroNick / 128L ) ) / (256L) ); |
} |
// limit servo value to its parameter range definition |
if(ServoNickValue < ((int16_t)ParamSet.ServoNickMin * MULTIPLYER) ) |
{ |
ServoNickValue = (int16_t)ParamSet.ServoNickMin * MULTIPLYER; |
} |
else |
if(ServoNickValue > ((int16_t)ParamSet.ServoNickMax * MULTIPLYER) ) |
{ |
ServoNickValue = (int16_t)ParamSet.ServoNickMax * MULTIPLYER; |
} |
RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
ServoNickValue /= MULTIPLYER; |
DebugOut.Analog[20] = ServoNickValue; |
// range servo pulse width |
if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
// accumulate time for correct update rate |
ServoFrameTime = RemainingPulse; |
} |
else // we had a high pulse |
{ |
TCCR2A |= (1<<COM2A0); // make a low pulse |
RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
} |
// set pulse output active |
PulseOutput = 1; |
} |
} // EOF Nick servo state machine |
else |
{ |
//----------------------------------------------------- |
// PPM state machine, onboard demultiplexed by HEF4017 |
//----------------------------------------------------- |
if(!PulseOutput) // pulse output complete |
{ |
if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
{ |
TCCR2A &= ~(1<<COM2A0);// make a high pulse |
if(ServoIndex == 0) // if we are at the sync gap |
{ |
RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
ServoFrameTime = 0; // reset servo frame time |
HEF4017R_ON; // enable HEF4017 reset |
} |
else // servo channels |
{ |
RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
switch(ServoIndex) // map servo channels |
{ |
case 1: // Nick Compensation Servo |
ServoNickOffset = (ServoNickOffset * 3 + (int16_t)FCParam.ServoNickControl * MULTIPLYER) / 4; // lowpass offset |
ServoNickValue = ServoNickOffset; // offset (Range from 0 to 255 * 3 = 765) |
if(ParamSet.ServoNickCompInvert & 0x01) |
{ // inverting movement of servo |
ServoNickValue += (int16_t)( ( (int32_t)ParamSet.ServoNickComp * MULTIPLYER * (IntegralGyroNick / 128L ) ) / (256L) ); |
} |
else |
{ // non inverting movement of servo |
ServoNickValue -= (int16_t)( ( (int32_t)ParamSet.ServoNickComp * MULTIPLYER * (IntegralGyroNick / 128L ) ) / (256L) ); |
} |
// limit servo value to its parameter range definition |
if(ServoNickValue < ((int16_t)ParamSet.ServoNickMin * MULTIPLYER) ) |
{ |
ServoNickValue = (int16_t)ParamSet.ServoNickMin * MULTIPLYER; |
} |
else |
if(ServoNickValue > ((int16_t)ParamSet.ServoNickMax * MULTIPLYER) ) |
{ |
ServoNickValue = (int16_t)ParamSet.ServoNickMax * MULTIPLYER; |
} |
RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
ServoNickValue /= MULTIPLYER; |
DebugOut.Analog[20] = ServoNickValue; |
break; |
case 2: // Roll Compensation Servo |
ServoRollOffset = (ServoRollOffset * 3 + (int16_t)80 * MULTIPLYER) / 4; // lowpass offset |
ServoRollValue = ServoRollOffset; // offset (Range from 0 to 255 * 3 = 765) |
//if(ParamSet.ServoRollCompInvert & 0x01) |
{ // inverting movement of servo |
ServoRollValue += (int16_t)( ( (int32_t) 50 * MULTIPLYER * (IntegralGyroRoll / 128L ) ) / (256L) ); |
} |
/* else |
{ // non inverting movement of servo |
ServoRollValue -= (int16_t)( ( (int32_t) 40 * MULTIPLYER * (IntegralGyroRoll / 128L ) ) / (256L) ); |
} |
*/ // limit servo value to its parameter range definition |
if(ServoRollValue < ((int16_t)ParamSet.ServoNickMin * MULTIPLYER) ) |
{ |
ServoRollValue = (int16_t)ParamSet.ServoNickMin * MULTIPLYER; |
} |
else |
if(ServoRollValue > ((int16_t)ParamSet.ServoNickMax * MULTIPLYER) ) |
{ |
ServoRollValue = (int16_t)ParamSet.ServoNickMax * MULTIPLYER; |
} |
RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; // shift ServoRollValue to center position |
ServoRollValue /= MULTIPLYER; |
//DebugOut.Analog[20] = ServoRollValue; |
break; |
default: // other servo channels |
RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
break; |
} |
// range servo pulse width |
if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
// substract stop pulse width |
RemainingPulse -= PPM_STOPPULSE; |
// accumulate time for correct sync gap |
ServoFrameTime += RemainingPulse; |
} |
} |
else // we had a high pulse |
{ |
TCCR2A |= (1<<COM2A0); // make a low pulse |
// set pulsewidth to stop pulse width |
RemainingPulse = PPM_STOPPULSE; |
// accumulate time for correct sync gap |
ServoFrameTime += RemainingPulse; |
if(ServoActive && RC_Quality > 180) HEF4017R_OFF; // disable HEF4017 reset |
ServoIndex++; // change to next servo channel |
if(ServoIndex > ParamSet.ServoRefresh) ServoIndex = 0; // reset to the sync gap |
} |
// set pulse output active |
PulseOutput = 1; |
} |
} // EOF PPM state machine |
// General pulse output generator |
if(RemainingPulse > (255 + IRS_RUNTIME)) |
{ |
OCR2A = 255; |
RemainingPulse -= 255; |
} |
else |
{ |
if(RemainingPulse > 255) // this is the 2nd last part |
{ |
if((RemainingPulse - 255) < IRS_RUNTIME) |
{ |
OCR2A = 255 - IRS_RUNTIME; |
RemainingPulse -= 255 - IRS_RUNTIME; |
} |
else // last part > ISR_RUNTIME |
{ |
OCR2A = 255; |
RemainingPulse -= 255; |
} |
} |
else // this is the last part |
{ |
OCR2A = RemainingPulse; |
RemainingPulse = 0; |
PulseOutput = 0; // trigger to stop pulse |
} |
} // EOF general pulse output generator |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/timer2.h |
---|
0,0 → 1,14 |
#ifndef _TIMER2_H |
#define _TIMER2_H |
#include <inttypes.h> |
extern volatile int16_t ServoNickValue; |
extern volatile int16_t ServoRollValue; |
void TIMER2_Init(void); |
void Servo_On(void); |
void Servo_Off(void); |
#endif //_TIMER2_H |
/branches/Nick666/V0.74d Code Redesign killagreg/twimaster.c |
---|
0,0 → 1,315 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <util/twi.h> |
#include "main.h" |
#include "eeprom.h" |
#include "twimaster.h" |
#include "fc.h" |
#include "analog.h" |
volatile uint8_t twi_state = TWI_STATE_MOTOR_TX; |
volatile uint8_t dac_channel = 0; |
volatile uint8_t motor_write = 0; |
volatile uint8_t motor_read = 0; |
volatile uint16_t I2CTimeout = 100; |
uint8_t MissingMotor = 0; |
MotorData_t Motor[MAX_MOTORS]; |
#define SCL_CLOCK 200000L |
#define I2C_TIMEOUT 30000 |
/**************************************************/ |
/* Initialize I2C (TWI) */ |
/**************************************************/ |
void I2C_Init(void) |
{ |
uint8_t i; |
uint8_t sreg = SREG; |
cli(); |
// SDA is INPUT |
DDRC &= ~(1<<DDC1); |
// SCL is output |
DDRC |= (1<<DDC0); |
// pull up SDA |
PORTC |= (1<<PORTC0)|(1<<PORTC1); |
// TWI Status Register |
// prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
// set TWI Bit Rate Register |
TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
twi_state = TWI_STATE_MOTOR_TX; |
motor_write = 0; |
motor_read = 0; |
for(i=0; i < MAX_MOTORS; i++) |
{ |
Motor[i].SetPoint = 0; |
Motor[i].Present = 0; |
Motor[i].Error = 0; |
Motor[i].MaxPWM = 0; |
} |
SREG = sreg; |
} |
/****************************************/ |
/* Start I2C */ |
/****************************************/ |
void I2C_Start(uint8_t start_state) |
{ |
twi_state = start_state; |
// TWI Control Register |
// clear TWI interrupt flag (TWINT=1) |
// disable TWI Acknowledge Bit (TWEA = 0) |
// enable TWI START Condition Bit (TWSTA = 1), MASTER |
// disable TWI STOP Condition Bit (TWSTO = 0) |
// disable TWI Write Collision Flag (TWWC = 0) |
// enable i2c (TWEN = 1) |
// enable TWI Interrupt (TWIE = 1) |
TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN) | (1<<TWIE); |
} |
/****************************************/ |
/* Stop I2C */ |
/****************************************/ |
void I2C_Stop(uint8_t start_state) |
{ |
twi_state = start_state; |
// TWI Control Register |
// clear TWI interrupt flag (TWINT=1) |
// disable TWI Acknowledge Bit (TWEA = 0) |
// diable TWI START Condition Bit (TWSTA = 1), no MASTER |
// enable TWI STOP Condition Bit (TWSTO = 1) |
// disable TWI Write Collision Flag (TWWC = 0) |
// enable i2c (TWEN = 1) |
// disable TWI Interrupt (TWIE = 0) |
TWCR = (1<<TWINT) | (1<<TWSTO) | (1<<TWEN); |
} |
/****************************************/ |
/* Write to I2C */ |
/****************************************/ |
void I2C_WriteByte(int8_t byte) |
{ |
// move byte to send into TWI Data Register |
TWDR = byte; |
// clear interrupt flag (TWINT = 1) |
// enable i2c bus (TWEN = 1) |
// enable interrupt (TWIE = 1) |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
} |
/****************************************/ |
/* Receive byte and send ACK */ |
/****************************************/ |
void I2C_ReceiveByte(void) |
{ |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
} |
/****************************************/ |
/* I2C receive last byte and send no ACK*/ |
/****************************************/ |
void I2C_ReceiveLastByte(void) |
{ |
TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
} |
/****************************************/ |
/* Reset I2C */ |
/****************************************/ |
void I2C_Reset(void) |
{ |
// stop i2c bus |
I2C_Stop(TWI_STATE_MOTOR_TX); |
twi_state = 0; |
motor_write = TWDR; |
motor_write = 0; |
motor_read = 0; |
TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
TWAMR = 0; |
TWAR = 0; |
TWDR = 0; |
TWSR = 0; |
TWBR = 0; |
I2C_Init(); |
I2C_Start(TWI_STATE_MOTOR_TX); |
} |
/****************************************/ |
/* I2C ISR */ |
/****************************************/ |
ISR (TWI_vect) |
{ |
static uint8_t missing_motor = 0; |
switch (twi_state++) // First i2c_start from SendMotorData() |
{ |
// Master Transmit |
case 0: // TWI_STATE_MOTOR_TX |
// skip motor if not used in mixer |
while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
if(motor_write >= MAX_MOTORS) // writing finished, read now |
{ |
motor_write = 0; |
twi_state = TWI_STATE_MOTOR_RX; |
I2C_WriteByte(0x53 + (motor_read * 2) ); // select slave adress in rx mode |
} |
else I2C_WriteByte(0x52 + (motor_write * 2) ); // select slave adress in tx mode |
break; |
case 1: // Send Data to Slave |
I2C_WriteByte(Motor[motor_write].SetPoint); // transmit rotation rate setpoint |
break; |
case 2: // repeat case 0+1 for all motors |
if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
{ |
if(!missing_motor) missing_motor = motor_write + 1; |
if(++Motor[motor_write].Error == 0) Motor[motor_write].Error = 255; // increment error counter and handle overflow |
} |
I2C_Stop(TWI_STATE_MOTOR_TX); |
I2CTimeout = 10; |
motor_write++; // next motor |
I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
break; |
// Master Receive Data |
case 3: |
if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted, if not ACK received |
{ // no response from the addressed slave received |
Motor[motor_read].Present = 0; |
motor_read++; // next motor |
if(motor_read >= MAX_MOTORS) motor_read = 0; // restart reading of first motor if we have reached the last one |
I2C_Stop(TWI_STATE_MOTOR_TX); |
} |
else |
{ |
Motor[motor_read].Present = ('1' - '-') + motor_read; |
I2C_ReceiveByte(); //Transmit 1st byte |
} |
MissingMotor = missing_motor; |
missing_motor = 0; |
break; |
case 4: //Read 1st byte and transmit 2nd Byte |
Motor[motor_read].Current = TWDR; |
I2C_ReceiveLastByte(); // nack |
break; |
case 5: |
//Read 2nd byte |
Motor[motor_read].MaxPWM = TWDR;; |
motor_read++; // next motor |
if(motor_read >= MAX_MOTORS) motor_read = 0; // restart reading of first motor if we have reached the last one |
I2C_Stop(TWI_STATE_MOTOR_TX); |
break; |
// writing Gyro-Offsets |
case 7: |
I2C_WriteByte(0x98); // Address the DAC |
break; |
case 8: |
I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
break; |
case 9: |
switch(dac_channel) |
{ |
case 0: |
I2C_WriteByte(DacOffsetGyroNick); // 1st byte for Channel A |
break; |
case 1: |
I2C_WriteByte(DacOffsetGyroRoll); // 1st byte for Channel B |
break; |
case 2: |
I2C_WriteByte(DacOffsetGyroYaw ); // 1st byte for Channel C |
break; |
} |
break; |
case 10: |
I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
break; |
case 11: |
I2C_Stop(TWI_STATE_MOTOR_TX); |
I2CTimeout = 10; |
// repeat case 7...10 until all DAC Channels are updated |
if(dac_channel < 2) |
{ |
dac_channel ++; // jump to next channel |
I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
} |
else |
{ // data to last motor send |
dac_channel = 0; // reset dac channel counter |
} |
break; |
default: |
I2C_Stop(TWI_STATE_MOTOR_TX); |
I2CTimeout = 10; |
motor_write = 0; |
motor_read = 0; |
} |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/twimaster.h |
---|
0,0 → 1,37 |
#ifndef _I2C_MASTER_H |
#define _I2C_MASTER_H |
+ |
+#include <inttypes.h> |
+ |
+#define TWI_STATE_MOTOR_TX 0 |
+#define TWI_STATE_MOTOR_RX 3 |
+#define TWI_STATE_GYRO_OFFSET_TX 7 |
+ |
+extern volatile uint8_t twi_state; |
+extern volatile uint8_t motor_write; |
+extern volatile uint8_t motor_read; |
+ |
+extern uint8_t MissingMotor; |
+ |
+#define MAX_MOTORS 12 |
+ |
+typedef struct |
+{ |
+ uint8_t SetPoint; // written by attitude controller |
+ uint8_t Present; // 0 if BL was found |
+ uint8_t Error; // I2C error counter |
+ uint8_t Current; // read byck from BL |
+ uint8_t MaxPWM; // read back from BL |
+} __attribute__((packed)) MotorData_t; |
+ |
+extern MotorData_t Motor[MAX_MOTORS]; |
+ |
+extern volatile uint16_t I2CTimeout; |
+ |
+extern void I2C_Init (void); // Initialize I2C |
+extern void I2C_Start(uint8_t start_state); // Start I2C |
+extern void I2C_Stop (uint8_t start_state); // Stop I2C |
+extern void I2C_Reset(void); // Reset I2C |
+ |
+#endif |
/branches/Nick666/V0.74d Code Redesign killagreg/uart0.c |
---|
0,0 → 1,727 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include <avr/wdt.h> |
#include <avr/pgmspace.h> |
#include <stdarg.h> |
#include <string.h> |
#include "eeprom.h" |
#include "main.h" |
#include "menu.h" |
#include "timer0.h" |
#include "uart0.h" |
#include "fc.h" |
#include "rc.h" |
#if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
#include "ubx.h" |
#endif |
#ifdef USE_MK3MAG |
#include "mk3mag.h" |
#endif |
#define FC_ADDRESS 1 |
#define NC_ADDRESS 2 |
#define MK3MAG_ADDRESS 3 |
#define FALSE 0 |
#define TRUE 1 |
//int8_t test __attribute__ ((section (".noinit"))); |
uint8_t Request_VerInfo = FALSE; |
uint8_t Request_ExternalControl = FALSE; |
uint8_t Request_Display = FALSE; |
uint8_t Request_Display1 = FALSE; |
uint8_t Request_DebugData = FALSE; |
uint8_t Request_Data3D = FALSE; |
uint8_t Request_DebugLabel = 255; |
uint8_t Request_PPMChannels = FALSE; |
uint8_t Request_MotorTest = FALSE; |
uint8_t DisplayLine = 0; |
volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
volatile uint8_t rxd_buffer_locked = FALSE; |
volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
volatile uint8_t txd_complete = TRUE; |
volatile uint8_t ReceivedBytes = 0; |
volatile uint8_t *pRxData = 0; |
volatile uint8_t RxDataLen = 0; |
uint8_t PcAccess = 100; |
uint8_t MotorTest_Active = 0; |
uint8_t MotorTest[16] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0}; |
uint8_t ConfirmFrame; |
typedef struct |
{ |
int16_t Heading; |
} __attribute__((packed)) Heading_t; |
DebugOut_t DebugOut; |
Data3D_t Data3D; |
ExternControl_t ExternControl; |
UART_VersionInfo_t UART_VersionInfo; |
uint16_t DebugData_Timer; |
uint16_t Data3D_Timer; |
uint16_t DebugData_Interval = 500; // in 1ms |
uint16_t Data3D_Interval = 0; // in 1ms |
#ifdef USE_MK3MAG |
int16_t Compass_Timer; |
#endif |
// keep lables in flash to save 512 bytes of sram space |
const prog_uint8_t ANALOG_LABEL[32][16] = |
{ |
//1234567890123456 |
"AngleNick ", //0 |
"AngleRoll ", |
"AccNick ", |
"AccRoll ", |
"YawGyro ", |
"Height Value ", //5 |
"AccZ ", |
"Gas ", |
"Compass Heading ", |
"Voltage ", |
"Receiver Level ", //10 |
"YawGyro Heading ", |
"Motor Front ", |
"Motor Rear ", |
"Motor Left ", |
"Motor Right ", //15 |
" ", |
" ", |
" ", |
"CompassCalState ", |
"NickServo ", //20 |
" ", |
" ", |
" ", |
" ", |
" ", //25 |
" ", |
"Kalman Max Drift", |
" ", |
"Navi Serial Data", |
"GPS Nick ", //30 |
"GPSS Roll " |
}; |
/****************************************************************/ |
/* Initialization of the USART0 */ |
/****************************************************************/ |
void USART0_Init (void) |
{ |
uint8_t sreg = SREG; |
uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
// disable all interrupts before configuration |
cli(); |
// disable RX-Interrupt |
UCSR0B &= ~(1 << RXCIE0); |
// disable TX-Interrupt |
UCSR0B &= ~(1 << TXCIE0); |
// set direction of RXD0 and TXD0 pins |
// set RXD0 (PD0) as an input pin |
PORTD |= (1 << PORTD0); |
DDRD &= ~(1 << DDD0); |
// set TXD0 (PD1) as an output pin |
PORTD |= (1 << PORTD1); |
DDRD |= (1 << DDD1); |
// USART0 Baud Rate Register |
// set clock divider |
UBRR0H = (uint8_t)(ubrr >> 8); |
UBRR0L = (uint8_t)ubrr; |
// USART0 Control and Status Register A, B, C |
// enable double speed operation in |
UCSR0A |= (1 << U2X0); |
// enable receiver and transmitter in |
UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
// set asynchronous mode |
UCSR0C &= ~(1 << UMSEL01); |
UCSR0C &= ~(1 << UMSEL00); |
// no parity |
UCSR0C &= ~(1 << UPM01); |
UCSR0C &= ~(1 << UPM00); |
// 1 stop bit |
UCSR0C &= ~(1 << USBS0); |
// 8-bit |
UCSR0B &= ~(1 << UCSZ02); |
UCSR0C |= (1 << UCSZ01); |
UCSR0C |= (1 << UCSZ00); |
// flush receive buffer |
while ( UCSR0A & (1<<RXC0) ) UDR0; |
// enable interrupts at the end |
// enable RX-Interrupt |
UCSR0B |= (1 << RXCIE0); |
// enable TX-Interrupt |
UCSR0B |= (1 << TXCIE0); |
// initialize the debug timer |
DebugData_Timer = SetDelay(DebugData_Interval); |
// unlock rxd_buffer |
rxd_buffer_locked = FALSE; |
pRxData = 0; |
RxDataLen = 0; |
// no bytes to send |
txd_complete = TRUE; |
#ifdef USE_MK3MAG |
Compass_Timer = SetDelay(220); |
#endif |
UART_VersionInfo.SWMajor = VERSION_MAJOR; |
UART_VersionInfo.SWMinor = VERSION_MINOR; |
UART_VersionInfo.SWPatch = VERSION_PATCH; |
UART_VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
UART_VersionInfo.ProtoMinor = VERSION_SERIAL_MINOR; |
// restore global interrupt flags |
SREG = sreg; |
} |
/****************************************************************/ |
/* USART0 transmitter ISR */ |
/****************************************************************/ |
ISR(USART0_TX_vect) |
{ |
static uint16_t ptr_txd_buffer = 0; |
uint8_t tmp_tx; |
if(!txd_complete) // transmission not completed |
{ |
ptr_txd_buffer++; // die [0] wurde schon gesendet |
tmp_tx = txd_buffer[ptr_txd_buffer]; |
// if terminating character or end of txd buffer was reached |
if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
{ |
ptr_txd_buffer = 0; // reset txd pointer |
txd_complete = 1; // stop transmission |
} |
UDR0 = tmp_tx; // send current byte will trigger this ISR again |
} |
// transmission completed |
else ptr_txd_buffer = 0; |
} |
/****************************************************************/ |
/* USART0 receiver ISR */ |
/****************************************************************/ |
ISR(USART0_RX_vect) |
{ |
static uint16_t crc; |
static uint8_t ptr_rxd_buffer = 0; |
uint8_t crc1, crc2; |
uint8_t c; |
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 |
if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
{ |
rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
crc = c; // init crc |
} |
#if 0 |
else if (ptr_rxd_buffer == 1) // handle address |
{ |
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
crc += c; // update crc |
} |
#endif |
else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
{ |
if(c != '\r') // no termination character |
{ |
rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
crc += c; // update crc |
} |
else // termination character was received |
{ |
// the last 2 bytes are no subject for checksum calculation |
// they are the checksum itself |
crc -= rxd_buffer[ptr_rxd_buffer-2]; |
crc -= rxd_buffer[ptr_rxd_buffer-1]; |
// calculate checksum from transmitted data |
crc %= 4096; |
crc1 = '=' + crc / 64; |
crc2 = '=' + crc % 64; |
// compare checksum to transmitted checksum bytes |
if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
{ // checksum valid |
rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
ReceivedBytes = ptr_rxd_buffer + 1;// store number of received bytes |
rxd_buffer_locked = TRUE; // lock the rxd buffer |
// if 2nd byte is an 'R' enable watchdog that will result in an reset |
if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
} |
else |
{ // checksum invalid |
rxd_buffer_locked = FALSE; // unlock rxd buffer |
} |
ptr_rxd_buffer = 0; // reset rxd buffer pointer |
} |
} |
else // rxd buffer overrun |
{ |
ptr_rxd_buffer = 0; // reset rxd buffer |
rxd_buffer_locked = FALSE; // unlock rxd buffer |
} |
} |
// -------------------------------------------------------------------------- |
void AddCRC(uint16_t datalen) |
{ |
uint16_t tmpCRC = 0, i; |
for(i = 0; i < datalen; i++) |
{ |
tmpCRC += txd_buffer[i]; |
} |
tmpCRC %= 4096; |
txd_buffer[i++] = '=' + tmpCRC / 64; |
txd_buffer[i++] = '=' + tmpCRC % 64; |
txd_buffer[i++] = '\r'; |
txd_complete = FALSE; |
UDR0 = txd_buffer[0]; // initiates the transmittion (continued in the TXD ISR) |
} |
// -------------------------------------------------------------------------- |
void SendOutData(uint8_t cmd, uint8_t addr, uint8_t numofbuffers, ...) // uint8_t *pdata, uint8_t len, ... |
{ |
va_list ap; |
uint16_t pt = 0; |
uint8_t a,b,c; |
uint8_t ptr = 0; |
uint8_t *pdata = 0; |
int len = 0; |
txd_buffer[pt++] = '#'; // Start character |
txd_buffer[pt++] = 'a' + addr; // Address (a=0; b=1,...) |
txd_buffer[pt++] = cmd; // Command |
va_start(ap, numofbuffers); |
if(numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
while(len) |
{ |
if(len) |
{ |
a = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else a = 0; |
if(len) |
{ |
b = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else b = 0; |
if(len) |
{ |
c = pdata[ptr++]; |
len--; |
if((!len) && numofbuffers) |
{ |
pdata = va_arg(ap, uint8_t*); |
len = va_arg(ap, int); |
ptr = 0; |
numofbuffers--; |
} |
} |
else c = 0; |
txd_buffer[pt++] = '=' + (a >> 2); |
txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
txd_buffer[pt++] = '=' + ( c & 0x3f); |
} |
va_end(ap); |
AddCRC(pt); // add checksum after data block and initates the transmission |
} |
// -------------------------------------------------------------------------- |
void Decode64(void) |
{ |
uint8_t a,b,c,d; |
uint8_t x,y,z; |
uint8_t ptrIn = 3; |
uint8_t ptrOut = 3; |
uint8_t len = ReceivedBytes - 6; |
while(len) |
{ |
a = rxd_buffer[ptrIn++] - '='; |
b = rxd_buffer[ptrIn++] - '='; |
c = rxd_buffer[ptrIn++] - '='; |
d = rxd_buffer[ptrIn++] - '='; |
//if(ptrIn > ReceivedBytes - 3) break; |
x = (a << 2) | (b >> 4); |
y = ((b & 0x0f) << 4) | (c >> 2); |
z = ((c & 0x03) << 6) | d; |
if(len--) rxd_buffer[ptrOut++] = x; else break; |
if(len--) rxd_buffer[ptrOut++] = y; else break; |
if(len--) rxd_buffer[ptrOut++] = z; else break; |
} |
pRxData = &rxd_buffer[3]; |
RxDataLen = ptrOut - 3; |
} |
// -------------------------------------------------------------------------- |
void USART0_ProcessRxData(void) |
{ |
// if data in the rxd buffer are not locked immediately return |
if(!rxd_buffer_locked) return; |
uint8_t tempchar1, tempchar2; |
Decode64(); // decode data block in rxd_buffer |
switch(rxd_buffer[1] - 'a') |
{ |
case FC_ADDRESS: |
switch(rxd_buffer[2]) |
{ |
#ifdef USE_MK3MAG |
case 'K':// compass value |
CompassHeading = ((Heading_t *)pRxData)->Heading; |
CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; |
break; |
#endif |
case 't':// motor test |
if(RxDataLen > 20) // |
{ |
memcpy(&MotorTest[0], (uint8_t*)pRxData, sizeof(MotorTest)); |
} |
else |
{ |
memcpy(&MotorTest[0], (uint8_t*)pRxData, 4); |
} |
//Request_MotorTest = TRUE; |
MotorTest_Active = 255; |
PcAccess = 255; |
break; |
case 'n':// "Get Mixer Table |
while(!txd_complete); // wait for previous frame to be sent |
SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
break; |
case 'm':// "Set Mixer Table |
if(pRxData[0] == EEMIXER_REVISION) |
{ |
memcpy(&Mixer, (uint8_t*)pRxData, sizeof(Mixer)); |
MixerTable_WriteToEEProm(); |
while(!txd_complete); // wait for previous frame to be sent |
tempchar1 = 1; |
} |
else |
{ |
tempchar1 = 0; |
} |
SendOutData('M', FC_ADDRESS, 1, &tempchar1, 1); |
break; |
case 'p': // get PPM channels |
Request_PPMChannels = TRUE; |
break; |
case 'q':// request settings |
if(pRxData[0] == 0xFF) |
{ |
pRxData[0] = GetParamByte(PID_ACTIVE_SET); |
} |
// limit settings range |
if(pRxData[0] < 1) pRxData[0] = 1; // limit to 1 |
else if(pRxData[0] > 5) pRxData[0] = 5; // limit to 5 |
// load requested parameter set |
ParamSet_ReadFromEEProm(pRxData[0]); |
tempchar1 = pRxData[0]; |
tempchar2 = EEPARAM_REVISION; |
while(!txd_complete); // wait for previous frame to be sent |
SendOutData('Q', FC_ADDRESS,3, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), (uint8_t *) &ParamSet, sizeof(ParamSet)); |
break; |
case 's': // save settings |
if(!(MKFlags & MKFLAG_MOTOR_RUN)) // save settings only if motors ar off |
{ |
if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION)) // check for setting to be in range and version of settings |
{ |
memcpy(&ParamSet, (uint8_t*)&pRxData[2], sizeof(ParamSet)); |
ParamSet_WriteToEEProm(pRxData[0]); |
TurnOver180Nick = (int32_t) ParamSet.AngleTurnOverNick * 2500L; |
TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
tempchar1 = GetActiveParamSet(); |
Beep(tempchar1); |
} |
else |
{ |
tempchar1 = 0; //indicate bad data |
} |
while(!txd_complete); // wait for previous frame to be sent |
SendOutData('S', FC_ADDRESS,1, &tempchar1, sizeof(tempchar1)); |
} |
break; |
default: |
//unsupported command received |
break; |
} // case FC_ADDRESS: |
default: // any Slave Address |
switch(rxd_buffer[2]) |
{ |
case 'a':// request for labels of the analog debug outputs |
Request_DebugLabel = pRxData[0]; |
if(Request_DebugLabel > 31) Request_DebugLabel = 31; |
PcAccess = 255; |
break; |
case 'b': // submit extern control |
memcpy(&ExternControl, (uint8_t*)pRxData, sizeof(ExternControl)); |
ConfirmFrame = ExternControl.Frame; |
PcAccess = 255; |
break; |
case 'h':// request for display columns |
PcAccess = 255; |
RemoteKeys |= pRxData[0]; |
if(RemoteKeys) DisplayLine = 0; |
Request_Display = TRUE; |
break; |
case 'l':// request for display columns |
PcAccess = 255; |
MenuItem = pRxData[0]; |
Request_Display1 = TRUE; |
break; |
case 'v': // request for version and board release |
Request_VerInfo = TRUE; |
break; |
case 'g':// get external control data |
Request_ExternalControl = TRUE; |
break; |
case 'd': // request for the debug data |
DebugData_Interval = (uint16_t) pRxData[0] * 10; |
if(DebugData_Interval > 0) Request_DebugData = TRUE; |
break; |
case 'c': // request for the 3D data |
Data3D_Interval = (uint16_t) pRxData[0] * 10; |
if(Data3D_Interval > 0) Request_Data3D = TRUE; |
break; |
default: |
//unsupported command received |
break; |
} |
break; // default: |
} |
// unlock the rxd buffer after processing |
pRxData = 0; |
RxDataLen = 0; |
rxd_buffer_locked = FALSE; |
} |
//############################################################################ |
//Routine für die Serielle Ausgabe |
int16_t uart_putchar (int8_t c) |
//############################################################################ |
{ |
if (c == '\n') |
uart_putchar('\r'); |
// wait until previous character was send |
loop_until_bit_is_set(UCSR0A, UDRE0); |
// send character |
UDR0 = c; |
return (0); |
} |
//--------------------------------------------------------------------------------------------- |
void USART0_TransmitTxData(void) |
{ |
if(!txd_complete) return; |
if(Request_VerInfo && txd_complete) |
{ |
SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
Request_VerInfo = FALSE; |
} |
if(Request_Display && txd_complete) |
{ |
LCD_PrintMenu(); |
SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), &DisplayBuff[DisplayLine * 20], 20); |
DisplayLine++; |
if(DisplayLine >= 4) DisplayLine = 0; |
Request_Display = FALSE; |
} |
if(Request_Display1 && txd_complete) |
{ |
LCD_PrintMenu(); |
SendOutData('L', FC_ADDRESS, 3, &MenuItem, sizeof(MenuItem), &MaxMenuItem, sizeof(MaxMenuItem), DisplayBuff, sizeof(DisplayBuff)); |
Request_Display1 = FALSE; |
} |
if(Request_DebugLabel != 0xFF) // Texte für die Analogdaten |
{ |
uint8_t label[16]; // local sram buffer |
memcpy_P(label, ANALOG_LABEL[Request_DebugLabel], 16); // read lable from flash to sram buffer |
SendOutData('A', FC_ADDRESS, 2, (uint8_t *) &Request_DebugLabel, sizeof(Request_DebugLabel), label, 16); |
Request_DebugLabel = 0xFF; |
} |
if(ConfirmFrame && txd_complete) // Datensatz ohne CRC bestätigen |
{ |
SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
ConfirmFrame = 0; |
} |
if( ((DebugData_Interval && CheckDelay(DebugData_Timer)) || Request_DebugData) && txd_complete) |
{ |
SendOutData('D', FC_ADDRESS, 1,(uint8_t *) &DebugOut, sizeof(DebugOut)); |
DebugData_Timer = SetDelay(DebugData_Interval); |
Request_DebugData = FALSE; |
} |
if( ((Data3D_Interval && CheckDelay(Data3D_Timer)) || Request_Data3D) && txd_complete) |
{ |
SendOutData('C', FC_ADDRESS, 1,(uint8_t *) &Data3D, sizeof(Data3D)); |
Data3D.AngleNick = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
Data3D.AngleRoll = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
Data3D.Heading = (int16_t)((10 * YawGyroHeading) / GYRO_DEG_FACTOR); // convert to multiple of 0.1° |
Data3D_Timer = SetDelay(Data3D_Interval); |
Request_Data3D = FALSE; |
} |
if(Request_ExternalControl && txd_complete) |
{ |
SendOutData('G', FC_ADDRESS, 1,(uint8_t *) &ExternControl, sizeof(ExternControl)); |
Request_ExternalControl = FALSE; |
} |
#ifdef USE_MK3MAG |
if((CheckDelay(Compass_Timer)) && txd_complete) |
{ |
ToMk3Mag.Attitude[0] = (int16_t)((10 * IntegralGyroNick) / GYRO_DEG_FACTOR); // approx. 0.1 deg |
ToMk3Mag.Attitude[1] = (int16_t)((10 * IntegralGyroRoll) / GYRO_DEG_FACTOR); // approx. 0.1 deg |
ToMk3Mag.UserParam[0] = FCParam.UserParam1; |
ToMk3Mag.UserParam[1] = FCParam.UserParam2; |
ToMk3Mag.CalState = CompassCalState; |
SendOutData('w', MK3MAG_ADDRESS, 1,(uint8_t *) &ToMk3Mag,sizeof(ToMk3Mag)); |
// the last state is 5 and should be send only once to avoid multiple flash writing |
if(CompassCalState > 4) CompassCalState = 0; |
Compass_Timer = SetDelay(99); |
} |
#endif |
if(Request_MotorTest && txd_complete) |
{ |
SendOutData('T', FC_ADDRESS, 0); |
Request_MotorTest = FALSE; |
} |
if(Request_PPMChannels && txd_complete) |
{ |
SendOutData('P', FC_ADDRESS, 1, (uint8_t *)&PPM_in, sizeof(PPM_in)); |
Request_PPMChannels = FALSE; |
} |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/uart0.h |
---|
0,0 → 1,71 |
#ifndef _UART0_H |
#define _UART0_H |
#define RXD_BUFFER_LEN 150 |
// must be at least 4('#'+Addr+'CmdID'+'\r')+ (80 * 4)/3 = 111 bytes |
#define TXD_BUFFER_LEN 150 |
#define RXD_BUFFER_LEN 150 |
#include <inttypes.h> |
//Baud rate of the USART |
#define USART0_BAUD 57600 |
extern void USART0_Init (void); |
extern void USART0_TransmitTxData(void); |
extern void USART0_ProcessRxData(void); |
extern int16_t uart_putchar(int8_t c); |
extern uint8_t PcAccess; |
extern uint8_t RemotePollDisplayLine; |
extern uint8_t MotorTest_Active; |
extern uint8_t MotorTest[16]; |
typedef struct |
{ |
uint8_t Digital[2]; |
uint16_t Analog[32]; // Debugvalues |
} __attribute__((packed)) DebugOut_t; |
extern DebugOut_t DebugOut; |
typedef struct |
{ |
int16_t AngleNick; // in 0.1 deg |
int16_t AngleRoll; // in 0.1 deg |
int16_t Heading; // in 0.1 deg |
uint8_t reserve[8]; |
} __attribute__((packed)) Data3D_t; |
typedef struct |
{ |
uint8_t Digital[2]; |
uint8_t RemoteButtons; |
int8_t Nick; |
int8_t Roll; |
int8_t Yaw; |
uint8_t Gas; |
int8_t Height; |
uint8_t free; |
uint8_t Frame; |
uint8_t Config; |
} __attribute__((packed)) ExternControl_t; |
extern ExternControl_t ExternControl; |
typedef struct |
{ |
uint8_t SWMajor; |
uint8_t SWMinor; |
uint8_t ProtoMajor; |
uint8_t ProtoMinor; |
uint8_t SWPatch; |
uint8_t Reserved[5]; |
} __attribute__((packed)) UART_VersionInfo_t; |
#endif //_UART0_H |
/branches/Nick666/V0.74d Code Redesign killagreg/uart1.c |
---|
0,0 → 1,171 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <avr/io.h> |
#include <avr/interrupt.h> |
#include "main.h" |
#include "uart1.h" |
#if defined (USE_KILLAGREG) || defined (USE_MK3MAG) |
#include "ubx.h" |
#else |
#ifdef USE_RC_DSL |
#include "dsl.h" |
#endif |
#ifdef USE_RC_SPECTRUM |
#include "spectrum.h" |
#endif |
#endif |
#ifndef USART1_BAUD |
#define USART1_BAUD 57600 |
#endif |
/****************************************************************/ |
/* Initialization of the USART1 */ |
/****************************************************************/ |
void USART1_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) SYSCLK/(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; |
} |
/****************************************************************/ |
/* USART1 data register empty ISR */ |
/****************************************************************/ |
/*ISR(USART1_UDRE_vect) |
{ |
} |
*/ |
/****************************************************************/ |
/* USART1 transmitter ISR */ |
/****************************************************************/ |
/*ISR(USART1_TX_vect) |
{ |
} |
*/ |
/****************************************************************/ |
/* USART1 receiver ISR */ |
/****************************************************************/ |
ISR(USART1_RX_vect) |
{ |
uint8_t c; |
c = UDR1; // get data byte |
#if (defined (USE_KILLAGREG) || defined (USE_MK3MAG)) |
ubx_parser(c); // and put it into the ubx protocol parser |
#else |
#ifdef USE_RC_DSL |
dsl_parser(c); // parse dsl data stream |
#endif |
#ifdef USE_RC_SPECTRUM |
spectrum_parser(c); // parse spectrum data stream |
#endif |
#endif |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/uart1.h |
---|
0,0 → 1,8 |
#ifndef _UART1_H |
#define _UART1_H |
extern void USART1_Init (void); |
#endif //_UART1_H |
/branches/Nick666/V0.74d Code Redesign killagreg/ubx.c |
---|
0,0 → 1,289 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include <inttypes.h> |
#include "ubx.h" |
#include "main.h" |
#include <avr/io.h> |
//#include "uart0.h" |
// ubx protocol parser state machine |
#define UBXSTATE_IDLE 0 |
#define UBXSTATE_SYNC1 1 |
#define UBXSTATE_SYNC2 2 |
#define UBXSTATE_CLASS 3 |
#define UBXSTATE_LEN1 4 |
#define UBXSTATE_LEN2 5 |
#define UBXSTATE_DATA 6 |
#define UBXSTATE_CKA 7 |
#define UBXSTATE_CKB 8 |
// ublox protocoll identifier |
#define UBX_CLASS_NAV 0x01 |
#define UBX_ID_POSLLH 0x02 |
#define UBX_ID_SOL 0x06 |
#define UBX_ID_VELNED 0x12 |
#define UBX_SYNC1_CHAR 0xB5 |
#define UBX_SYNC2_CHAR 0x62 |
typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
int32_t Frac; // ns remainder of rounded ms above |
int16_t week; // GPS week |
uint8_t GPSfix; // GPSfix Type, range 0..6 |
uint8_t Flags; // Navigation Status Flags |
int32_t ECEF_X; // cm ECEF X coordinate |
int32_t ECEF_Y; // cm ECEF Y coordinate |
int32_t ECEF_Z; // cm ECEF Z coordinate |
uint32_t PAcc; // cm 3D Position Accuracy Estimate |
int32_t ECEFVX; // cm/s ECEF X velocity |
int32_t ECEFVY; // cm/s ECEF Y velocity |
int32_t ECEFVZ; // cm/s ECEF Z velocity |
uint32_t SAcc; // cm/s Speed Accuracy Estimate |
uint16_t PDOP; // 0.01 Position DOP |
uint8_t res1; // reserved |
uint8_t numSV; // Number of SVs used in navigation solution |
uint32_t res2; // reserved |
Status_t Status; |
} UBX_SOL_t; |
typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
int32_t LON; // 1e-07 deg Longitude |
int32_t LAT; // 1e-07 deg Latitude |
int32_t HEIGHT; // mm Height above Ellipsoid |
int32_t HMSL; // mm Height above mean sea level |
uint32_t Hacc; // mm Horizontal Accuracy Estimate |
uint32_t Vacc; // mm Vertical Accuracy Estimate |
Status_t Status; |
} UBX_POSLLH_t; |
typedef struct { |
uint32_t ITOW; // ms GPS Millisecond Time of Week |
int32_t VEL_N; // cm/s NED north velocity |
int32_t VEL_E; // cm/s NED east velocity |
int32_t VEL_D; // cm/s NED down velocity |
uint32_t Speed; // cm/s Speed (3-D) |
uint32_t GSpeed; // cm/s Ground Speed (2-D) |
int32_t Heading; // 1e-05 deg Heading 2-D |
uint32_t SAcc; // cm/s Speed Accuracy Estimate |
uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
Status_t Status; |
} UBX_VELNED_t; |
UBX_SOL_t UbxSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
UBX_POSLLH_t UbxPosLlh = {0,0,0,0,0,0,0, INVALID}; |
UBX_VELNED_t UbxVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID}; |
volatile uint8_t GPSTimeout = 0; |
void UpdateGPSInfo (void) |
{ |
if ((UbxSol.Status == NEWDATA) && (UbxPosLlh.Status == NEWDATA) && (UbxVelNed.Status == NEWDATA)) |
{ |
RED_FLASH; |
if(GPSInfo.status != NEWDATA) |
{ |
GPSInfo.status = INVALID; |
// NAV SOL |
GPSInfo.flags = UbxSol.Flags; |
GPSInfo.satfix = UbxSol.GPSfix; |
GPSInfo.satnum = UbxSol.numSV; |
GPSInfo.PAcc = UbxSol.PAcc; |
GPSInfo.VAcc = UbxSol.SAcc; |
// NAV POSLLH |
GPSInfo.longitude = UbxPosLlh.LON; |
GPSInfo.latitude = UbxPosLlh.LAT; |
GPSInfo.altitude = UbxPosLlh.HEIGHT; |
GPSInfo.veleast = UbxVelNed.VEL_E; |
GPSInfo.velnorth = UbxVelNed.VEL_N; |
GPSInfo.veltop = -UbxVelNed.VEL_D; |
GPSInfo.velground = UbxVelNed.GSpeed; |
GPSInfo.status = NEWDATA; |
} |
// set state to collect new data |
UbxSol.Status = PROCESSED; // never update old data |
UbxPosLlh.Status = PROCESSED; // never update old data |
UbxVelNed.Status = PROCESSED; // never update old data |
} |
} |
// this function should be called within the UART RX ISR |
void ubx_parser(uint8_t c) |
{ |
static uint8_t ubxstate = UBXSTATE_IDLE; |
static uint8_t cka, ckb; |
static uint16_t msglen; |
static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
switch(ubxstate) |
{ |
case UBXSTATE_IDLE: // check 1st sync byte |
if (c == UBX_SYNC1_CHAR) ubxstate = UBXSTATE_SYNC1; |
else ubxstate = UBXSTATE_IDLE; // out of synchronization |
break; |
case UBXSTATE_SYNC1: // check 2nd sync byte |
if (c == UBX_SYNC2_CHAR) ubxstate = UBXSTATE_SYNC2; |
else ubxstate = UBXSTATE_IDLE; // out of synchronization |
break; |
case UBXSTATE_SYNC2: // check msg class to be NAV |
if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS; |
else ubxstate = UBXSTATE_IDLE; // unsupported message class |
break; |
case UBXSTATE_CLASS: // check message identifier |
switch(c) |
{ |
case UBX_ID_POSLLH: // geodetic position |
ubxP = (int8_t *)&UbxPosLlh; // data start pointer |
ubxEp = (int8_t *)(&UbxPosLlh + 1); // data end pointer |
ubxSp = (int8_t *)&UbxPosLlh.Status; // status pointer |
break; |
case UBX_ID_SOL: // navigation solution |
ubxP = (int8_t *)&UbxSol; // data start pointer |
ubxEp = (int8_t *)(&UbxSol + 1); // data end pointer |
ubxSp = (int8_t *)&UbxSol.Status; // status pointer |
break; |
case UBX_ID_VELNED: // velocity vector in tangent plane |
ubxP = (int8_t *)&UbxVelNed; // data start pointer |
ubxEp = (int8_t *)(&UbxVelNed + 1); // data end pointer |
ubxSp = (int8_t *)&UbxVelNed.Status; // status pointer |
break; |
default: // unsupported identifier |
ubxstate = UBXSTATE_IDLE; |
break; |
} |
if (ubxstate != UBXSTATE_IDLE) |
{ |
ubxstate = UBXSTATE_LEN1; |
cka = UBX_CLASS_NAV + c; |
ckb = UBX_CLASS_NAV + cka; |
} |
break; |
case UBXSTATE_LEN1: // 1st message length byte |
msglen = c; |
cka += c; |
ckb += cka; |
ubxstate = UBXSTATE_LEN2; |
break; |
case UBXSTATE_LEN2: // 2nd message length byte |
msglen += ((uint16_t)c)<<8; |
cka += c; |
ckb += cka; |
// if the old data are not processed so far then break parsing now |
// to avoid writing new data in ISR during reading by another function |
if ( *ubxSp == NEWDATA ) |
{ |
UpdateGPSInfo(); //update GPS info respectively |
ubxstate = UBXSTATE_IDLE; |
} |
else // data invalid or allready processd |
{ |
*ubxSp = INVALID; |
ubxstate = UBXSTATE_DATA; |
} |
break; |
case UBXSTATE_DATA: |
if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left |
cka += c; |
ckb += cka; |
if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
break; |
case UBXSTATE_CKA: |
if (c == cka) ubxstate = UBXSTATE_CKB; |
else |
{ |
*ubxSp = INVALID; |
ubxstate = UBXSTATE_IDLE; |
} |
break; |
case UBXSTATE_CKB: |
if (c == ckb) |
{ |
*ubxSp = NEWDATA; // new data are valid |
UpdateGPSInfo(); //update GPS info respectively |
GPSTimeout = 255; |
} |
else |
{ // if checksum not fit then set data invalid |
*ubxSp = INVALID; |
} |
ubxstate = UBXSTATE_IDLE; // ready to parse new data |
break; |
default: // unknown ubx state |
ubxstate = UBXSTATE_IDLE; |
break; |
} |
} |
/branches/Nick666/V0.74d Code Redesign killagreg/ubx.h |
---|
0,0 → 1,61 |
#ifndef _UBX_H |
#define _UBX_H |
#include <inttypes.h> |
typedef enum |
{ |
INVALID, |
NEWDATA, |
PROCESSED |
} Status_t; |
// Satfix types for GPSData.satfix |
#define SATFIX_NONE 0x00 |
#define SATFIX_DEADRECKOING 0x01 |
#define SATFIX_2D 0x02 |
#define SATFIX_3D 0x03 |
#define SATFIX_GPS_DEADRECKOING 0x04 |
#define SATFIX_TIMEONLY 0x05 |
// Flags for interpretation of the GPSData.flags |
#define FLAG_GPSFIXOK 0x01 // (i.e. within DOP & ACC Masks) |
#define FLAG_DIFFSOLN 0x02 // (is DGPS used) |
#define FLAG_WKNSET 0x04 // (is Week Number valid) |
#define FLAG_TOWSET 0x08 // (is Time of Week valid) |
/* enable the UBX protocol at the gps receiver with the following messages enabled |
01-02 NAV - POSLLH |
01-06 Nav - SOL |
01-12 NAV - VELNED */ |
typedef struct |
{ |
uint8_t flags; // flags |
uint8_t satnum; // number of satelites |
uint8_t satfix; // type of satfix |
int32_t longitude; // in 1e-07 deg |
int32_t latitude; // in 1e-07 deg |
int32_t altitude; // in mm |
uint32_t PAcc; // in cm 3d position accuracy |
int32_t velnorth; // in cm/s |
int32_t veleast; // in cm/s |
int32_t veltop; // in cm/s |
uint32_t velground; // 2D ground speed in cm/s |
uint32_t VAcc; // in cm/s 3d velocity accuracy |
Status_t status; // status of data: invalid | valid |
} GPS_INFO_t; |
//here you will find the current gps info |
extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
// this variable should be decremted by the application |
extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
#define USART1_BAUD 57600 |
// this function should be called within the UART RX ISR |
extern void ubx_parser(uint8_t c); |
#endif //_UBX_H |
/branches/Nick666/V0.74d Code Redesign killagreg/version.txt |
---|
0,0 → 1,287 |
------- |
V0.53 27.04.2007 H.Buss |
- erste öffentliche Version |
V0.53b 29.04.2007 H.Buss |
- der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
V0.53c 29.04.2007 H.Buss |
- es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
Die angezeigten Werte waren nicht die Werte der Funke |
V0.54 01.05.2007 H.Buss |
- die Paramtersätze können jetzt vor dem Start ausgewählt werden |
Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
2 3 4 |
1 x 5 |
- - - |
Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
- der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
V0.55 14.05.2007 H.Buss |
- es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
V0.56 14.05.2007 H.Buss |
- es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
- Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
V0.57 24.05.2007 H.Buss |
- Der Höhenregler kann nun auch mittels Schalter bedient werden |
- Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
- Kompass-Einfluss dämpfen bei Neigung |
- Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
- Der Motortest vom Kopter-Tool geht jetzt |
- Man kann den Parametersätzen einen Namen geben |
- Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
V0.58 30.05.2007 H.Buss |
- Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
V0.60 17.08.2007 H.Buss |
- "Schwindel-Bug" behoben |
- Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
- Poti4 zugefügt |
- Es werden jetzt 8 Kanäle ausgewertet |
- Kamera-Servo (an J7) |
- Die Settings müssen überschrieben werden |
V0.61 - V0.63 H.Buss 27.09.2007 |
- Poti 4 und Kanal 8 werden im Menü angezeigt |
- ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
- Analog.c: Aktuell_ax korrigiert |
- auf 32 Debug-Kanäle erweitert |
- Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar |
- leichte Anpassungen im Gier - Geschwindigkeit und Drift |
- die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein |
- die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird |
- die PPM-Ausgänge liegen wieder an den Pins an |
- Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders |
- der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen |
- I2C-Bus läuft jetzt sicher nach einer Störung wieder an |
- Sticksignale werden präziser ausgewertet |
- Stick-Kanäle werden ans Kopter-Tool übertragen |
- Es muss die Version V1.47 des Kopter-Tool verwendet werden |
- Die Settings werden auf Default zurückgesetzt |
- am Piepen kann man die Fehlerart unterscheiden |
1. einzelnes Piepen beim Einschalten und Kalibrieren |
2. langsames Intervall mindestens 1 Sek -> Empfangsausfall |
3. schnelleres Intervall mindestens 1 Sek -> Akku |
4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört |
V0.64 H.Buss 30.09.2007 |
- beim Gieren wurden die Achsen nicht hart genug geregelt |
V0.65a H.Buss 15.10.2007 |
- Integral im Mischer wieder integriert |
- Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
- ACC/Gyro Abgleich auch bei HH |
V0.66a H.Buss 3.11.2007 |
- Messwertverarbeitung aus dem Analog-Interrupt entfernt |
- Analogmessung hängt jetzt am FC-Timing |
- Looping-Stick-Hysterese eingebaut |
- Looping-180°-Umschlag einstellbar |
- Achsenkopplung: Gierbewegung verkoppelt Nick und Roll |
- Lageregelung nach ACC-Sensor verbessert |
- zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage |
- Gyrodriftkompensation überarbeitet |
- Bug in der Gier-Stick-Berechnung behoben |
- Gyro-Messung auf 1kHz beschleunigt |
V0.67a H.Buss 16.11.2007 |
- der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode) |
- Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus |
- Feinabstimmung |
- Beim HH-Modus gab es noch Bugs |
V0.67e H.Buss 29.11.2007 |
- Parameter: Dynamic Stability und Driftfaktor eingeführt |
- Die Namen der Analogwerte werden jetzt zum Koptertool übertragen |
- Kompatibilität zum Koptertool erhöht |
V0.67f H.Buss 04.12.2007 |
- Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional |
- Schub für Gier wird jetzt auf den Gaswert begrenzt, dadurch steigt der MK nicht mehr beim Gieren. Gier ist allerdings nicht mehr so agressiv |
- Die ACC-Nullwerte können jetzt dauerhaft im EEPROM gespeichert werden (Stick:Vollgas und Gier rechts) |
V0.68a I.Busker 28.12.2007 |
- SPI.c & SPI.h ins Projekt aufgenommen |
SPI-Kommuikation kann in SPI.h aktiviert/deaktivert werden |
V0.68c H.Buss 05.01.2008 |
- Stickauswertung verbessert -> träger und präziser |
- Alle Settings angepasst |
V0.69g H.Buss 05.05.2008 |
- kleinere Bugs beseitigt |
- Schneller Sinkflug jetzt möglich |
- Min- und Maxgas in den Settings geändert |
- Lagewinkel wird jetzt in 0,1 Grad an Kompass und Navi gesendet |
- Kalibrierung für MK3Mag -> Nick unten beim Kalibrieren |
- Kompassroutine um den Ersatzkompass (Gyro unterstützt Kompasswert) erweitert |
V0.69h H.Buss 21.05.2008 |
- STICK_GAIN = 4 eingeführt. Das erhöht die Auflösung der Sollwerte. Stick_P und Stick_I müssen nun um Faktor 4 erhöht werden |
- SenderOkay auch an das Naviboard übertragen |
- Bessere Parameter bei Senderausfall |
V0.69j H.Buss 30.05.2008 |
- Höhere Auflösung der Achsenkopplung |
V0.69k H.Buss 31.05.2008 |
- Bug in SPI.C behoben |
- in 0.69h war ein Bug, der zu ungewollten Loopings führen konnte |
V0.69L H.Buss 14.06.2008 |
- feinere Cam-Servo-Auflösung |
V0.70a H.Buss 01.07.2008 |
- Unterstützung der V1.3-Hardware mit automatischem Hardware-Gyro-Abgleich |
V0.70b H.Buss 14.07.2008 |
- flexible Einstellungsmöglichkeit von J16 und J17 (Transistorausgänge) |
- eigene Parameter für GPS-Naviboard |
- eigener Parameter für ExternalControl (war vorher UserParameter1 bzw. 8) |
- neue Parameter im EEPROM-Datensatz: J16Bitmask, J16Timing, ExternalControl, Navi... |
- MikroKopterFlags eingeführt, damit das Navi den Status des MKs kennt |
- KopterTool-Kompatibilität auf 8 erhöht |
V0.70c H.Buss 30.07.2008 |
- Parameter der Datenfusion leicht modifiziert |
- EEPROM-Parameter für Looping-Umschlag angepasst (von 100 auf 85) |
- MaxStick wird auf 100 begrenzt |
V0.70d H.Buss 02.08.2008 |
- Transistorausgänge: das oberste Bit der Blinkmaske (im KopterTool linkes Bit) gibt nun den Zustand des Ausgangs im Schalterbetrieb an |
0.71b: H.Buss 19.10.2008 |
Kommunikation zum Navi erweitert |
- Beeptime jetzt 32Bit |
- Datenfusion und Driftkopensation wird durch NaviBoard unterstützt |
0.71c: H.Buss 20.10.2008 |
- LoopConfig heisst jetzt BitConfig |
- 3-Fach-Schalter für Höhensteuerung möglich -> kann man mit GPS-Schalter zusammenlegen |
- bei den Settings wurde Setting[0] mit abgespeichert, welches es nicht gab. |
- in Zukunft werden bei neuen EEPROM-Settings die Kanäle von Setting 1 übernommen |
- Variablen NaviWindCorrection, NaviSpeedCompensation, NaviOperatingRadius eingeführt |
0.71f: H.Buss 15.11.2008 |
- Ausschalten der Höhenregelung per Schalter um 0,3 sek verzögert |
- bei der seriellen Übertragung hat die FC jetzt als SlaveAdresse die 1 |
- VersionInfo.NaviKompatibel eingeführt |
- wenn manuell gegiert wird, wird der GyroKompass-Wert auf den Kompasswert gesetzt |
- Luftdruckwert wird an das Navi übertragen |
- Der Baro-Offset wird jetzt nachgeführt, um den Messbereich zu erweitern. Geht nur bei Höhenregler mit Schalter |
- Debugdaten können jetzt mit 'f' gepollt werden |
0.71g: Gregor 09.12.2008 |
- Kommunikation überarbeitet |
Infos hier: http://www.mikrokopter.de/ucwiki/en/SerialCommands |
0.71h: H.Buss 15.12.2008 - Freigegebene Version |
- NaviAngleLimitation als Parameter zum Navi implementiert |
- Antwort auf CMD: 't' entfernt |
0.72d: H.Buss 22.01.2009 |
- OCTO als Compilerschalter |
- Unterstützung der FC 2.0 (ME) |
- GYRO_D eingeführt |
- Achsenkopplung jetzt auch auf Nick/Roll-Bewegung |
0.72e: H.Buss 27.01.2009 |
- die 0.72d hatte kein Integral im Gier |
- Parameter eingeführt: |
EE_Parameter.NaviGpsPLimit |
EE_Parameter.NaviGpsILimit |
EE_Parameter.NaviGpsDLimit |
EE_Parameter.NaviPH_LoginTime |
EE_Parameter.AchsKopplung2 |
EE_Parameter.CouplingYawCorrection |
0.72f: H.Buss 28.01.2009 |
- Bug im Ersatzkompass entfernt |
0.72h: H.Buss 05.02.2009 |
- Algorithmen beschleunigt -> Floats durch Fixkomma ersetzt |
- Achsentkopplung weiter verbessert |
- Nick- und Roll im Octo-Mischer auf jeweils vier Motoren aufgeteilt |
0.72i: H.Buss 07.02.2009 |
- Abtastrate von 1kHz auf 2kHz erhöht |
0.72j: H.Buss 09.02.2009 |
- neue Implementierung der Servoausgänge |
0.72k: H.Buss 10.02.2009 |
- Abtastrate auf 5kHz erhöht |
0.72l: H.Buss 13.02.2009 |
- Signalfilterung überarbeitet |
- OCTO2 implementiert |
0.72m: H.Buss 13.02.2009 |
- Code Cleanup |
0.72o: H.Buss 24.02.2009 |
- Abtastrate auf 2kHz |
- HW-Version an Navi |
- neuer Datensatz 'c' -> Lagedaten für 3D-Grafik |
- Auswerteroutine für Spectrum-Satteliten implementiert |
- Kanalsettings werden beim Parameterreset nicht mehr gelöscht |
- die Driftkompensation wird jetzt feiner aufgelöst --> EE_Parameter.Driftkomp muss mal 8 genommen werden |
- die Integrale und ACC-Werte werden jetzt im Scope in ca. 0,1° angezeigt (wie beim NaviBrd) |
0.72p: H.Buss 01.03.2009 |
- Octo3 erstellt |
- Analogwerte umbenannt |
0.73a: H.Buss 12.03.2009 |
- MixerTabelle implementiert |
0.73b: H.Buss 14.03.2009 |
- Es wird geprüft, ob alle notwendigen BL-Regler angeschlossen sind |
0.73a-d: H.Buss 05.04.2009 |
- MixerTabelle implementiert |
- I2C-Bus auf bis zu 12 Motoren erweitert |
- die Busfehler der BL-Regler werden im Menü angezeigt |
- Revision der MixerTabelle eingeführt |
- MixerTabelle wird bei Parameterreset neu initialisiert |
- Motortest auf [12] erweitert |
- Motorschalter nicht mehr 3-Stufig |
0.74a |
- Datenfusion im Flug auch, wenn ACC-Z < 512 |
- Wert für die Messbereichserweiterung abgefangen |
0.74d |
- Die Driftkompensation ist jetzt dreistufig -> 0,5% pro sekunde zusätzlich eingeführt |
Anpassungen bzgl. V0.74d |
G.Stobrawa 28.04.2009: |
- 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. |