| /branches/MergedVersionsByOsiair/alpha/v064JokoGPSNick666MM_1_1/_Settings.h |
|---|
| 0,0 → 1,50 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Testmodi |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MOTOR_OFF 0 |
| #define MOTOR_TEST 0 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Abstimmung |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ACC_AMPLIFY 16 |
| #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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/Flight-Ctrl_MEGA644_V0_64.aps |
|---|
| 0,0 → 1,0 |
| <AVRStudio><MANAGEMENT><ProjectName>Flight-Ctrl_MEGA644_V0_64</ProjectName><Created>19-Aug-2007 14:38:13</Created><LastEdit>15-Oct-2007 19:44:55</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>19-Aug-2007 14:38:13</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>Flight-Ctrl_MEGA644_V0_64.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>E:\hubi\ufo\mickrokopter\eigene versionen\Kompass + GPS\Flight-Ctrl_V0_64_3_GPS_work_Jochenaccvonhand\</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>main.c</SOURCEFILE><SOURCEFILE>analog.c</SOURCEFILE><SOURCEFILE>eeprom.c</SOURCEFILE><SOURCEFILE>fc.c</SOURCEFILE><SOURCEFILE>GPS.c</SOURCEFILE><SOURCEFILE>menu.c</SOURCEFILE><SOURCEFILE>printf_P.c</SOURCEFILE><SOURCEFILE>rc.c</SOURCEFILE><SOURCEFILE>timer0.c</SOURCEFILE><SOURCEFILE>twimaster.c</SOURCEFILE><SOURCEFILE>uart.c</SOURCEFILE><SOURCEFILE>compass.c</SOURCEFILE><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><HEADERFILE>uart.h</HEADERFILE><HEADERFILE>compass.h</HEADERFILE><OTHERFILE>makefile</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>YES</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE>makefile</EXTERNALMAKEFILE><PART>atmega644</PART><HEX>1</HEX><LIST>0</LIST><MAP>0</MAP><OUTPUTFILENAME>Flight-Ctrl_MEGA644_V0_60.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>1</ISDIRTY><OPTIONS/><INCDIRS/><LIBDIRS/><LIBS/><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -O0 -fsigned-char</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\WinAVR-20070525\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\WinAVR-20070525\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>compass.c</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>compass.h</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>fc.c</FileName><Status>1</Status></File00003></Files><Workspace><File00000><Position>346 108 878 484</Position><LineCol>155 3</LineCol></File00000><File00001><Position>355 114 901 482</Position><LineCol>0 0</LineCol></File00001><File00002><Position>377 136 923 504</Position><LineCol>0 0</LineCol></File00002><File00003><Position>336 71 1048 624</Position><LineCol>834 19</LineCol><State>Maximized</State></File00003></Workspace><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio> |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/Flight-Ctrl_MEGA644_V0_64.hex |
|---|
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| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/GPS.c |
|---|
| 0,0 → 1,300 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 10.2007 by Jochen Kromayer |
| // + es handelt sich um eine Beta-Software, die zu nichtkommerziellen Zwecken frei veröffentlich und weitergegeben werden darf. Für evtl. |
| // + Personen- und/der Sachschäden ist jegliche Haftung ausgeschlossen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "math.h" |
| //Sinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. d.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_sin[] = {0,17,34,52,69,87,104,121,139,156,173,190, |
| 207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544,559,573,587,601,615,629, |
| 642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874,882,891,898,906,913,920, |
| 927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999,1000,999,999,998,997,996, |
| 994,992,990,987,984,981,978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838, |
| 829,819,809,798,788,777,766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484, |
| 469,453,438,422,406,390,374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17, |
| -34,-52,-69,-87,-104,-121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406, |
| -422,-438,-453,-469,-484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719, |
| -731,-743,-754,-766,-777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927, |
| -933,-939,-945,-951,-956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000, |
| -999,-999,-998,-997,-996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927, |
| -920,-913,-906,-898,-891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719, |
| -707,-694,-682,-669,-656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406, |
| -390,-374,-358,-342,-325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17}; |
| //Cosinusfunktion von 0° bis 359°. Ergebnis wurde mit 1000 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. D.h., es muss also in der späteren Berechnung noch mit 0,001 multipliziert werden //(090907Kr) |
| const int c_cos[] = {1000,999,999,998,997,996,994,992,990,987,984,981, |
| 978,974,970,965,961,956,951,945,939,933,927,920,913,906,898,891,882,874,866,857,848,838,829,819,809,798,788,777, |
| 766,754,743,731,719,707,694,682,669,656,642,629,615,601,587,573,559,544,529,515,500,484,469,453,438,422,406,390, |
| 374,358,342,325,309,292,275,258,241,224,207,190,173,156,139,121,104,87,69,52,34,17,0,-17,-34,-52,-69,-87,-104, |
| -121,-139,-156,-173,-190,-207,-224,-241,-258,-275,-292,-309,-325,-342,-358,-374,-390,-406,-422,-438,-453,-469, |
| -484,-500,-515,-529,-544,-559,-573,-587,-601,-615,-629,-642,-656,-669,-682,-694,-707,-719,-731,-743,-754,-766, |
| -777,-788,-798,-809,-819,-829,-838,-848,-857,-866,-874,-882,-891,-898,-906,-913,-920,-927,-933,-939,-945,-951, |
| -956,-961,-965,-970,-974,-978,-981,-984,-987,-990,-992,-994,-996,-997,-998,-999,-999,-1000,-999,-999,-998,-997, |
| -996,-994,-992,-990,-987,-984,-981,-978,-974,-970,-965,-961,-956,-951,-945,-939,-933,-927,-920,-913,-906,-898, |
| -891,-882,-874,-866,-857,-848,-838,-829,-819,-809,-798,-788,-777,-766,-754,-743,-731,-719,-707,-694,-682,-669, |
| -656,-642,-629,-615,-601,-587,-573,-559,-544,-529,-515,-500,-484,-469,-453,-438,-422,-406,-390,-374,-358,-342, |
| -325,-309,-292,-275,-258,-241,-224,-207,-190,-173,-156,-139,-121,-104,-87,-69,-52,-34,-17,0,17,34,52,69,87, |
| 104,121,139,156,173,190,207,224,241,258,275,292,309,325,342,358,374,390,406,422,438,453,469,484,500,515,529,544, |
| 559,573,587,601,615,629,642,656,669,682,694,707,719,731,743,754,766,777,788,798,809,819,829,838,848,857,866,874, |
| 882,891,898,906,913,920,927,933,939,945,951,956,961,965,970,974,978,981,984,987,990,992,994,996,997,998,999,999}; |
| long Soll_Position_North = 0; |
| long Soll_Position_East = 0; |
| long GPS_Positionsabweichung_North = 0; |
| long GPS_Positionsabweichung_East = 0; |
| long GPS_Geschwindigkeit_North = 0; |
| long GPS_Geschwindigkeit_East = 0; |
| long P_Einfluss_North = 0; |
| long D_Einfluss_North = 0; |
| long P_Einfluss_East = 0; |
| long D_Einfluss_East = 0; |
| signed int GPS_North = 0; |
| signed int GPS_East = 0; |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| volatile char gethome = 0; //Flag ob GPS_Home_Position gelernt ist //(280807Kr) |
| long GPS_Home_North = 0; |
| long GPS_Home_East = 0; |
| unsigned char blinkcount_LED2 = 0; //Hilfszähler für die blinkende LED (010907Kr) |
| //**************************** MIRCOS DEFINITIONSANFANG FÜR DIE FILTERUNG |
| // Filterung der GPS Messwerte vom Ublox-Empfänger. Es wird der gleitende Durchschnitt aus n Messwerten gebildet |
| #define MITTELWERTZAHL 8 // Anzahl der Messwerte fuer gleitenden Mittelwert |
| volatile char NeuerMittelwert = 0; //Flag ob ein neuer Mittelwert vorliegt, der mit 4 Hz berechnet wird, da nur dann neue Messwerte vom GPS vorliegen |
| volatile unsigned char FilterPos = 0; |
| volatile long NORTH_MITTEL = 0; |
| volatile long EAST_MITTEL = 0; |
| volatile long long NORTH_LONG_LONG = 0; |
| volatile long long EAST_LONG_LONG = 0; |
| volatile int filterfilled = 0; |
| typedef struct { |
| long NORTH[MITTELWERTZAHL]; |
| } FILTER_NORTH; // Filterdefinition für die Positions-Nordwerte aus dem GPS-Empfänger |
| typedef struct { |
| long EAST[MITTELWERTZAHL]; |
| } FILTER_EAST; // Filterdefinition für die Positions-Ostwerte aus dem GPS-Empfänger |
| FILTER_NORTH filter_north; |
| FILTER_EAST filter_east; |
| //**************************** MIRCOS DEFINITIONSENDE FÜR DIE FILTERUNG |
| void gps_main(void) |
| { |
| //**************************** MIRCOS FILTERUNG ANFANG |
| // if(actualPos.GPSFix == 3 && actualPos.newData == 1) //bilde neuen Positionsmittelwert, wenn 3D-Fix und neue GPS-Daten vorliegen |
| if(actualPos.GPSFix == 3) // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| { |
| filter_north.NORTH[FilterPos] = actualPos.northing; |
| filter_east.EAST[FilterPos] = actualPos.easting; |
| FilterPos++; |
| if (FilterPos==MITTELWERTZAHL) FilterPos=0; |
| if (filterfilled<MITTELWERTZAHL) filterfilled++; |
| NORTH_LONG_LONG = 0; |
| EAST_LONG_LONG = 0; |
| for (int i=0; i<filterfilled; i++) |
| { |
| NORTH_LONG_LONG += filter_north.NORTH[i]; |
| EAST_LONG_LONG += filter_east.EAST[i]; |
| } |
| NORTH_LONG_LONG /= filterfilled; |
| EAST_LONG_LONG /= filterfilled; |
| NORTH_MITTEL = NORTH_LONG_LONG; |
| EAST_MITTEL = EAST_LONG_LONG; |
| NeuerMittelwert = 1; |
| //actualPos.newData = 0; // hier auskommentieren, wenn dauernd (also nicht nur alle 250ms) die GPS-Berechnung durchgeführt werden soll |
| } |
| //******************************* MIRCOS FILTERUNG ENDE |
| //wenn kein 3D-Fix vorhanden, über das Poti jedoch irgendeine GPS Funktion aktiv ist, werden die GPS-Steuerbefehle |
| //auf Null gesetzt, um unkontrolliertes Wegfliegen durch das GPS zu verhindern. Dadurch wird abgesichert |
| //(auch im laufenden Flug), dass bei einem Verlust der GPS-Verbindung GPS deaktivert wird |
| if (actualPos.GPSFix < 3 && Poti3 > 70) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| beeptime = 50; |
| } |
| // speichert die GPS_Home_Position beim 3D-Fix, MotorEINschalten und wenn noch nicht zu weit weggeflogen wurde |
| // (modell_fliegt_gps < 2000) einmalig ab. Die Flugzeitabfrage sichert ab, dass bei einem Losfliegen ohne 3D-Fix die Home_Positinen |
| // irgendwann später dort gelernt werden, wo dann zu ersten mal ein 3D-Fix vorhanden ist |
| if (actualPos.GPSFix == 3 && MotorenEin == 1 && gethome == 0 && modell_fliegt_gps < 2000) |
| { |
| GPS_Home_North = NORTH_MITTEL; |
| GPS_Home_East = EAST_MITTEL; |
| // Muss hier auch eingelernt werden, damit falls das Poti3 beim Motorenstarten in |
| // Mittelstellung sein sollte, trotzdem schon eine Sollposition vorliegt. Andernfalls würde |
| // GPS_Nick und _Roll maximal werden bis zum ersten Mal Stick_Nick und _Roll gesteuert würde |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| beeptime = 50; |
| gethome = 1; |
| } |
| //löscht die GPS_Home_Position beim MotorAUSschalten wieder und resetet das Flag gethome //(280807Kr) |
| if (MotorenEin == 0) |
| { |
| GPS_Home_North = 0; |
| GPS_Home_East = 0; |
| gethome = 0; |
| modell_fliegt_gps = 0; |
| } |
| // wenn Schalter ausgeschaltet, dann wird die LED2 ausgeschaltet und das GPS Steuerkommando gelöscht |
| if(Poti3 < 70) |
| { |
| // Sollpositionen müssen auch hier beschrieben werden, damit ausgeschlossen ist, dass falls gelandet wird und die GPS-Funktion |
| // über Poti3 deaktivert und anschließend wieder aktiviert wird keine Soll-Positionen vorliegen. |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich und vom Pilot gesteuert wird, wird ständig neue GPS-Sollposition eingelernt |
| if(actualPos.GPSFix == 3 && Poti3 > 70 && Poti3 < 150 && (StickNick > 12 || StickNick < -12 || StickRoll > 12 || StickRoll < -12)) |
| { |
| GPS_Nick = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| GPS_Roll = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| Soll_Position_North = NORTH_MITTEL; // Soll-Position wird geschrieben |
| Soll_Position_East = EAST_MITTEL; // Soll-Position wird geschrieben |
| //++++++++++++++++++++++++++++++++++++ |
| //Sorgt lediglich dafür, dass die LED2 langsam blinkt. Dauer ist durch die "> x" Abfrage festgelegt |
| //++++++++++++++++++++++++++++++++++++ |
| if(blinkcount_LED2 >= 200) // maximal erlaubt 255 wegen unsigned char |
| { |
| LED2_FLASH; |
| blinkcount_LED2 = 0; |
| } |
| blinkcount_LED2++; |
| //++++++++++++++++++++++++++++++++++++ |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich (oder höher), neuer Mittelwert vorhanden, wenigstens einmal Sollposition gelernt und der Pilot nicht selbst steuert wird eine GPS-Funktion aktiviert |
| if (actualPos.GPSFix == 3 && Poti3 > 70 && NeuerMittelwert == 1 && Soll_Position_North != 0 && Soll_Position_East != 0 && StickNick <= 12 && StickNick >= -12 && StickRoll <= 12 && StickRoll >= -12) |
| { |
| //Berechnung der GPS-Positionsabweichung je nach aktivierter GPS-Funktion (GPS_HOLD oder HOMING) |
| //DYNAMISCHES GPS-HOLD, wenn Schalter noch in Mittelstellung ist wird die zuletzt gelernte Soll_Position angeflogen |
| if(Poti3 < 150) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| } |
| //andernfalls, wenn Schalter in max. Stellung und zusätzlich die GPS_Home_Positionen beim Motorenstarten gelernt |
| //werden konnten, wird zur GPS_Home_Position geflogen |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0) |
| { |
| GPS_Positionsabweichung_North = (GPS_Home_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (GPS_Home_East - EAST_MITTEL); |
| // durch das ständige Neulernen der Soll_Positionen während HOMING wird erreicht, dass der MK nach dem Umschalten |
| // von HOMING zurück zu GPS-HOLD nicht wieder an die alte Soll_Position zurück fliegt |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| LED2_ON; |
| } |
| //verhindert, dass beim Umschalten von Mittelstellung (GPS_HOLD) auf Maximalstellung (HOMING) OHNE gelernte Homeposition |
| //die GPS Funktion unkontrolliert steuert. Daher wird GPS_HOLD aktiv gehalten, die Sollpositon wird bei Stickbefehlen |
| //jedoch nicht wie beim dynamischen GPS_HOLD überschrieben. Zusätzlich wird der Summer eingeschaltet. |
| if (Poti3 >= 150 && GPS_Home_North == 0 && GPS_Home_East == 0) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| beeptime = 50; |
| } |
| //GPS-Geschwindigkeiten |
| GPS_Geschwindigkeit_North = actualPos.velNorth; //actualPos.velNorth ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Nord-Süd Richtung |
| GPS_Geschwindigkeit_East = actualPos.velEast; //actualPos.velEast ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Ost-West Richtung |
| //Berechnung der Einzelkomponenten des PD-Reglers |
| P_Einfluss_North = (P_GPS_Verstaerkung * GPS_Positionsabweichung_North)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_North = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_North)*0.00333; //entspricht einer Skalierung von 1/300 |
| P_Einfluss_East = (P_GPS_Verstaerkung * GPS_Positionsabweichung_East)*0.0005; //entspricht einer Skalierung von 1/2000 |
| D_Einfluss_East = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_East)*0.00333; //entspricht einer Skalierung von 1/300 |
| // Begrenzung des maximalen D-Anteils für pos. und neg. Werte. Grenze muss so geählt werden, |
| // dass das Limit im normalen Position-Hold nicht erreicht wird und somit keinen Einfluss hat. |
| // Grund: Beim Zufliegen auf weiter entfernte Ziele bremst der D-Anteil kurz vor dem Ziel den Mikrokopter sehr stark ab. |
| // Dieses Limit wirkt nur, wenn sich der MK im HOMING Modus befindet und sich noch weit (>2,5m) von der Home-Position weg befindet. |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0 && (abs(GPS_Positionsabweichung_North) > 250 || abs(GPS_Positionsabweichung_East) > 250)) |
| { |
| if (D_Einfluss_North > Limit_D_Anteil) D_Einfluss_North = Limit_D_Anteil; |
| if (D_Einfluss_East > Limit_D_Anteil) D_Einfluss_East = Limit_D_Anteil; |
| if (D_Einfluss_North < -1 * Limit_D_Anteil) D_Einfluss_North = -1 * Limit_D_Anteil; |
| if (D_Einfluss_East < -1 * Limit_D_Anteil) D_Einfluss_East = -1 * Limit_D_Anteil; |
| } |
| // PD-Regler |
| GPS_North = (-P_Einfluss_North + D_Einfluss_North); |
| GPS_East = (P_Einfluss_East - D_Einfluss_East); |
| //Umrechnen vom globalen North- bzw. East- in das körperfeste X- bzw. Y- Koordinatensystem |
| GPS_Nick = (-c_sin[KompassValue]*0.001*GPS_East + c_cos[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/0.01745329251) ersetzt werden |
| GPS_Roll = (c_cos[KompassValue]*0.001*GPS_East + c_sin[KompassValue]*0.001*GPS_North); // die "0" kann später durch den Messwert des Kompasssensors (KompassValue/180*3.1415926535) ersetzt werden |
| // Begrenzung des maximalen GPS Einflusses für positive und negative Werte |
| if (GPS_Nick > 35) GPS_Nick = 35; |
| if (GPS_Roll > 35) GPS_Roll = 35; |
| if (GPS_Nick < -35) GPS_Nick = -35; |
| if (GPS_Roll < -35) GPS_Roll = -35; |
| //Funktion wird dadurch nur alle 250 ms aufgerufen, wenn neue Mittelwerte aus den GPS-Daten vorliegen. |
| //FUNKTIONIERT MOMENTAN NOCH NICHT, DA STÄNDIG OHNE UNTERBRECHUNG NEUE MITTELWERTE BERECHNET WERDEN. |
| //GRUND: DIE ABFRAGE NACH NEUE GPS-DATEN ERFOLGT NOCH NICHT |
| NeuerMittelwert = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/MIKROKOPTER_TO_DO.txt |
|---|
| 0,0 → 1,11 |
| . Patricks neigungskompensierten Kompass |
| . Aufruf der GPS.c innerhalb der fc.c nur wenn neue Daten vorliegen |
| . innerhalb der GPS.c den PD-Regler nicht mit "NeuerMittelwert", sondern mit "actualpos.newdata" alle 250ms aufrufen |
| . GPS-Empfänger auf 5Hz einstellen |
| . Begrenzung von 35 auf 50 anheben, damit auch bei stärkerem Wind geflogen werden kann |
| . Waypoints |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/Parameter.txt |
|---|
| 0,0 → 1,15 |
| bei leichtem, konstantem Wind |
| P-Faktor(Userparam_1): 120 |
| D-Faktor(Userparam_2): 90 |
| D-Anteil_Limit(Userparam_3): 45 |
| bei stärkerem, böhigem Wind: |
| P-Faktor(Userparam_1): 150 |
| D-Faktor(Userparam_2): 95 |
| D-Anteil_Limit(Userparam_3): 45 |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/README_Nickk666Kompass.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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/Setting_1.mkp |
|---|
| 0,0 → 1,51 |
| [Setup] |
| Name=GPS |
| GlobalConfig=43 |
| [Channels] |
| Gas=3 |
| Gier=2 |
| Nick=1 |
| Roll=4 |
| Poti_1=5 |
| Poti_2=6 |
| Poti_3=7 |
| Poti_4=8 |
| [Stick] |
| Nick_Roll-P=4 |
| Nick_Roll-D=0 |
| Gier-P=16 |
| [Altitude] |
| Setpoint=254 |
| MinGas=30 |
| P=10 |
| Barometric-D=50 |
| Z-ACC-Effect=50 |
| Gain=2 |
| [Gyro] |
| P=120 |
| I=150 |
| ACC_Gyro-Factor=26 |
| Main-I=0 |
| [Others] |
| MinGas=5 |
| MaxGas=250 |
| Compass-Effect=64 |
| UnderVoltage=95 |
| NotGas=66 |
| NotGasTime=60 |
| [User] |
| Parameter_1=251 |
| Parameter_2=252 |
| Parameter_3=35 |
| Parameter_4=60 |
| [Camera] |
| ServoNickControl=100 |
| ServoNickCompensation=40 |
| ServoNickInvert=0 |
| ServoNickMin=50 |
| ServoNickMax=150 |
| ServoNickRefreshRate=5 |
| [Loop] |
| Config=0 |
| GasLimit=50 |
| StickThreshold=90 |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/Settings.h |
|---|
| --- MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/_Settings.h (nonexistent) |
| +++ MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/_Settings.h (revision 376) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 16 |
| +#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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/analog.c |
|---|
| 0,0 → 1,172 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 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(100); |
| if(MessLuftdruck < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| DruckOffsetSetting = off; |
| Delay_ms(300); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| wert = (signed int) AdNeutralGier - ADC; |
| if(PlatinenVersion != 10) wert *= 2; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| wert = (signed int) ADC - AdNeutralRoll; |
| if(PlatinenVersion != 10) wert *= 2; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(Mess_IntegralRoll > 310000L) Mess_IntegralRoll = -290000L; |
| if(Mess_IntegralRoll <-310000L) Mess_IntegralRoll = 290000L; |
| if(ADC < 15) wert = -1000; |
| if(ADC < 7) wert = -2000; |
| if(ADC > 1010) wert = +1000; |
| if(ADC > 1017) wert = +2000; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| wert = (signed int) ADC - AdNeutralNick; |
| if(PlatinenVersion != 10) wert *= 2; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(Mess_IntegralNick > 310000L) Mess_IntegralNick = -290000L; |
| if(Mess_IntegralNick <-310000L) Mess_IntegralNick = 290000L; |
| if(ADC < 15) wert = -1000; |
| if(ADC < 7) wert = -2000; |
| if(ADC > 1010) wert = +1000; |
| if(ADC > 1017) wert = +2000; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| 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; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ax = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ax; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| 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; |
| ANALOG_ON; |
| } |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/analog.h |
|---|
| 0,0 → 1,23 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| 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 unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/compass.c |
|---|
| 0,0 → 1,230 |
| /* |
| 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" |
| MM3_struct MM3; |
| int8_t Kompass_Offset[2] EEMEM; // X_off[0], Y_off[1], Z_off[2] |
| int8_t X_off, Y_off, Z_off; |
| //############################################################################ |
| // Initialisierung |
| void MM3_init(void) |
| //############################################################################ |
| { |
| SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
| //SPSR = (1<<SPI2X); |
| DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| PORTD &= ~(1<<PD3); // J5 auf Low |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| // Kalibrierung aus dem EEprom lesen |
| X_off = (int8_t)eeprom_read_byte(&Kompass_Offset[0]); |
| Y_off = (int8_t)eeprom_read_byte(&Kompass_Offset[1]); |
| Z_off = (int8_t)eeprom_read_byte(&Kompass_Offset[2]); |
| //X_off = -11; |
| //Y_off = 30; |
| //Z_off = 18; |
| } |
| //############################################################################ |
| // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| void MM3_timer0(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 Übertragung (MOSI und MISO) aus |
| else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
| else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 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) |
| /* |
| case MM3_TILT: // Zeitnahe Speicherung der aktuellen Neigung in ° |
| MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam1*8); |
| MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam2*8); |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| return; |
| */ |
| } |
| } |
| //############################################################################ |
| // SPI byte ready |
| SIGNAL (SIG_SPI) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_DRDY: // 1. Byte ist da, abspeichern, an die MSB-Stelle rücken |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis = SPDR; |
| MM3.x_axis <<= 8; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis = SPDR; |
| MM3.y_axis <<= 8; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis = SPDR; |
| MM3.z_axis <<= 8; |
| } |
| SPDR=0x00; // Übertragung von 2. Byte auslösen |
| MM3.STATE=MM3_BYTE2; |
| return; |
| case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
| if (MM3.AXIS == MM3_X) |
| { |
| MM3.x_axis |= SPDR; |
| // Spikes filtern |
| if (abs(MM3.x_axis) < Max_Axis_Value) MM3.x_axis_old = MM3.x_axis; |
| else MM3.x_axis = MM3.x_axis_old; |
| MM3.AXIS = MM3_Y; |
| MM3.STATE = MM3_RESET; |
| } |
| else if (MM3.AXIS == MM3_Y) |
| { |
| MM3.y_axis |= SPDR; |
| if (abs(MM3.y_axis) < Max_Axis_Value) MM3.y_axis_old = MM3.y_axis; |
| else MM3.y_axis = MM3.y_axis_old; |
| MM3.AXIS = MM3_Z; |
| MM3.STATE = MM3_RESET; |
| } |
| else // if (MM3.AXIS == MM3_Z) |
| { |
| MM3.z_axis |= SPDR; |
| if (abs(MM3.z_axis) < Max_Axis_Value) MM3.z_axis_old = MM3.z_axis; |
| else MM3.z_axis = MM3.z_axis_old; |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| } |
| return; |
| } |
| } |
| //############################################################################ |
| // Kompass kalibrieren |
| void MM3_calib(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; |
| 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) |
| { |
| beeper = 50; |
| beeptime = 50; |
| } |
| beeper--; |
| // Schleife mit 100 Hz voll ausreichend |
| timer = SetDelay(10); |
| while(!CheckDelay(timer)); |
| // Wenn Gas zurück genommen wird, Kalibrierung mit Verzögerung beenden |
| if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
| } |
| // Offset der Achsen berechnen |
| X_off = (x_max + x_min) / 2; |
| Y_off = (y_max + y_min) / 2; |
| Z_off = (z_max + z_min) / 2; |
| // und im EEProm abspeichern |
| eeprom_write_byte(&Kompass_Offset[0], X_off); |
| eeprom_write_byte(&Kompass_Offset[1], Y_off); |
| eeprom_write_byte(&Kompass_Offset[2], Z_off); |
| } |
| //############################################################################ |
| // Neigungskompensierung und Berechnung der Ausrichtung |
| signed int MM3_heading(void) |
| //############################################################################ |
| { |
| float sin_nick, cos_nick, sin_roll, cos_roll; |
| signed int x_corr, y_corr, heading; |
| signed int x_axis,y_axis,z_axis; |
| MM3.NickGrad = IntegralNick/(EE_Parameter.UserParam4*8); |
| MM3.RollGrad = IntegralRoll/(EE_Parameter.UserParam4*8); |
| // Berechung von sinus und cosinus |
| sin_nick = sin_f(MM3.NickGrad); |
| cos_nick = cos_f(MM3.NickGrad); |
| sin_roll = sin_f(MM3.RollGrad); |
| cos_roll = cos_f(MM3.RollGrad); |
| // Offset der Achsen nur bei Bedarf (also hier) berücksichtigen |
| x_axis = MM3.x_axis - X_off; |
| y_axis = MM3.y_axis - Y_off; |
| z_axis = MM3.z_axis - Z_off; |
| // Neigungskompensation |
| x_corr = (cos_nick * x_axis) - (((sin_roll * y_axis) - (cos_roll * z_axis)) * sin_nick); |
| y_corr = ((cos_roll * y_axis) + (sin_roll * z_axis)); |
| // Winkelberechnung |
| heading = atan2_i(x_corr, y_corr); |
| return (heading); |
| } |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/compass.h |
|---|
| 0,0 → 1,37 |
| typedef struct |
| { |
| uint8_t STATE; |
| unsigned int DRDY; |
| uint8_t AXIS; |
| signed int x_axis; |
| signed int x_axis_old; |
| signed int y_axis; |
| signed int y_axis_old; |
| signed int z_axis; |
| signed int z_axis_old; |
| signed int NickGrad; |
| signed int RollGrad; |
| }MM3_struct; |
| extern MM3_struct MM3; |
| extern int8_t X_off, Y_off, Z_off; |
| void MM3_init(void); |
| void MM3_timer0(void); |
| void MM3_calib(void); |
| signed int MM3_heading(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 4 |
| #define MM3_BYTE2 8 |
| #define MM3_X 16 |
| #define MM3_Y 32 |
| #define MM3_Z 64 |
| #define MM3_TILT 128 |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/eeprom.c |
|---|
| --- MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/fc.c (nonexistent) |
| +++ MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/fc.c (revision 376) |
| @@ -0,0 +1,1028 @@ |
| +/*####################################################################################### |
| +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" |
| + |
| +unsigned char h,m,s; |
| +volatile unsigned int I2CTimeout = 100; |
| +volatile int MesswertNick,MesswertRoll,MesswertGier; |
| +volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| +volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| +volatile float NeutralAccZ = 0; |
| +unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| +volatile long IntegralNick = 0,IntegralNick2 = 0; |
| +volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| +volatile long Integral_Gier = 0; |
| +volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| +volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| +volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| +volatile long Mess_Integral_Hoch = 0; |
| +volatile int KompassValue = 0; |
| +volatile int KompassStartwert = 0; |
| +volatile int KompassRichtung = 0; |
| +unsigned char MAX_GAS,MIN_GAS; |
| +unsigned char Notlandung = 0; |
| +unsigned char HoehenReglerAktiv = 0; |
| + |
| +unsigned char blinkcount_LED1 = 0;//Hilfszähler für die blinkende LED (310807Kr) |
| +unsigned int modell_fliegt_gps = 0;//(030907Kr) |
| +unsigned char Limit_D_Anteil = 0;//(210907Kr) |
| + |
| +float GyroFaktor; |
| +float IntegralFaktor; |
| + |
| +volatile int DiffNick,DiffRoll; |
| +int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; //PPM24-Erweiterung (121007Kr) |
| +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; |
| +unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| + |
| +float Kp = FAKTOR_P; |
| +float Ki = FAKTOR_I; |
| + |
| +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_ServoNickControl = 100; |
| +unsigned char Parameter_LoopGasLimit = 70; |
| +struct mk_param_struct EE_Parameter; |
| + |
| +void Piep(unsigned char Anzahl) |
| +{ |
| + while(Anzahl--) |
| + { |
| + if(MotorenEin) return; //auf keinen Fall im Flug! |
| + beeptime = 100; |
| + Delay_ms(250); |
| + } |
| +} |
| + |
| +//############################################################################ |
| +// Nullwerte ermitteln |
| +void SetNeutral(void) |
| +//############################################################################ |
| +{ |
| + unsigned int timer; |
| + NeutralAccX = 0; |
| + NeutralAccY = 0; |
| + NeutralAccZ = 0; |
| + AdNeutralNick = 0; |
| + AdNeutralRoll = 0; |
| + AdNeutralGier = 0; |
| + CalibrierMittelwert(); |
| + timer = SetDelay(5); |
| + while (!CheckDelay(timer)); |
| + CalibrierMittelwert(); |
| + if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| + { |
| + if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| + } |
| + |
| + if(PlatinenVersion == 10) |
| + { |
| + AdNeutralNick= abs(MesswertNick); |
| + AdNeutralRoll= abs(MesswertRoll); |
| + AdNeutralGier= abs(MesswertGier); |
| + } |
| + else |
| + { |
| + AdNeutralNick= abs(MesswertNick) / 2; |
| + AdNeutralRoll= abs(MesswertRoll) / 2; |
| + AdNeutralGier= abs(MesswertGier) / 2; |
| + } |
| + NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| + NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| + NeutralAccZ = Aktuell_az; |
| + |
| + 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; |
| + beeptime = 50; |
| +} |
| + |
| +//############################################################################ |
| +// Bildet den Mittelwert aus den Messwerten |
| +void Mittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + Integral_Gier = Mess_Integral_Gier; |
| +// Integral_Gier2 = Mess_Integral_Gier2; |
| + IntegralNick = Mess_IntegralNick; |
| + IntegralRoll = Mess_IntegralRoll; |
| + IntegralNick2 = Mess_IntegralNick2; |
| + IntegralRoll2 = Mess_IntegralRoll2; |
| + // ADC einschalten |
| + ANALOG_ON; |
| + |
| +/* |
| +//------------------------------------------------------------------------------ |
| + 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--; |
| + //PPM24-Erweiterung (121007Kr) |
| + 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--; |
| + |
| + |
| + 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-Erweiterung (121007Kr) |
| + 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; |
| +} |
| + |
| +//############################################################################ |
| +// Messwerte beim Ermitteln der Nullage |
| +void CalibrierMittelwert(void) |
| +//############################################################################ |
| +{ |
| + // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| + ANALOG_OFF; |
| + if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| + if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| + if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| + if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| + if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| + if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| + AccumulateNick = 0; MessanzahlNick = 0; |
| + AccumulateRoll = 0; MessanzahlRoll = 0; |
| + AccumulateGier = 0; MessanzahlGier = 0; |
| + accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| + accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| + accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| + // 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--; |
| + //PPM24-Erweiterung (121007Kr) |
| + 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--; |
| + |
| + |
| + |
| + |
| + 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-Erweiterung (121007Kr) |
| + 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; |
| +} |
| + |
| +//############################################################################ |
| +// 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; |
| + |
| + // DebugOut.Analog[12] = motor_rx[0]; //Motorstrom vorne |
| + // DebugOut.Analog[13] = motor_rx[1]; //Motorstrom hinten |
| + // DebugOut.Analog[14] = motor_rx[2]; //Motorstrom links |
| + // DebugOut.Analog[15] = motor_rx[3]; //Motorstrom rechts |
| + |
| + |
| + //Start I2C Interrupt Mode |
| + twi_state = 0; |
| + motor = 0; |
| + i2c_start(); |
| +} |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// + 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 = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> 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 = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 16; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 95; // Wert : 0-250 // (160607Kr) |
| + 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 = 0; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 120; //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.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| + 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 = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| + EE_Parameter.Hoehe_MinGas = 30; |
| + EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> 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 = 16; // Wert : 1-20 |
| + EE_Parameter.Gas_Min = 5; // Wert : 0-32 // (160607Kr) |
| + EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| + EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| + EE_Parameter.KompassWirkung = 16; // Wert : 0-250 |
| + EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| + EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| + EE_Parameter.UnterspannungsWarnung = 95; // Wert : 0-250 // (160607Kr) |
| + 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 = 0; |
| + EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| + EE_Parameter.UserParam4 = 120; //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.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| + memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| +} |
| + |
| + |
| +//############################################################################ |
| +// 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_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| + CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,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; |
| + long IntegralFehlerNick = 0; |
| + 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; |
| + Mittelwert(); |
| + |
| + GRN_ON; |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gaswert ermitteln |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| + 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++; |
| + modell_fliegt_gps = modell_fliegt;// (030907Kr) |
| + } |
| + 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 |
| + { |
| + unsigned char setting; |
| + 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) |
| + { |
| + 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], STRUCT_PARAM_LAENGE); |
| + SetNeutral(); |
| + 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) |
| + { |
| + 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; |
| + |
| + 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; |
| + } |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// LED Stuff |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +LED1_OFF; |
| + |
| + if(blinkcount_LED1 >= Parameter_UserParam4 && Parameter_UserParam4 > 0) |
| + { |
| + LED1_FLASH; |
| + blinkcount_LED1 = 0; |
| + } |
| + |
| + blinkcount_LED1++; |
| + |
| + //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] > 75) LED1_ON; else LED1_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| + //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 75) LED2_ON; else LED2_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| + } |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Looping? |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) || |
| + ((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS)) |
| + { |
| + Looping_Roll = 1; |
| + if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| + } |
| + else Looping_Roll = 0; |
| + |
| + if(((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) || |
| + ((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN)) |
| + { |
| + Looping_Nick = 1; |
| + Looping_Roll = 0; |
| + if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| + } |
| + else Looping_Nick = 0; |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Bei Empfangsausfall im Flug |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(Notlandung) |
| + { |
| + StickGier = 0; |
| + StickNick = 0; |
| + StickRoll = 0; |
| + GyroFaktor = 0.1; |
| + IntegralFaktor = 0.005; |
| + Looping_Roll = 0; |
| + Looping_Nick = 0; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gyro-Drift kompensieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define DRIFT_FAKTOR 3 |
| + if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| + { |
| + IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| + IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| + ZaehlMessungen = 0; |
| + if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| + if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| + if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| + if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| +// if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; // macht nur mit Referenz (Kompass Sinn) |
| +// if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; // macht nur mit Referenz (Kompass Sinn) |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick2 = IntegralNick; |
| + Mess_IntegralRoll2 = IntegralRoll; |
| + Mess_Integral_Gier2 = Integral_Gier; |
| + ANALOG_ON; // ADC einschalten |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Integrale auf ACC-Signal abgleichen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| + |
| + if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| + { |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| + #define AUSGLEICH 500 |
| + 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; |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| + } |
| + |
| + else |
| + { |
| + if(IntegralFaktor && !Looping_Nick && !Looping_Roll) |
| + { |
| + tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| + if(labs(Mittelwert_AccNick) < 200) tmp_long /= 8; |
| + else tmp_long /= 16; |
| + tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| + if(labs(Mittelwert_AccRoll) < 200) tmp_long2 /= 8; |
| + else tmp_long2 /= 16; |
| + |
| + #define AUSGLEICH 500 |
| + 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; |
| + } |
| + |
| + else |
| + { |
| + tmp_long = 0; |
| + tmp_long2 = 0; |
| + } |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_IntegralNick -= tmp_long; |
| + Mess_IntegralRoll -= tmp_long2; |
| + } |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Gieren |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(abs(StickGier) > 20) // war 35 |
| + { |
| + if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| + } |
| + tmp_int = EE_Parameter.Gier_P * (StickGier * abs(StickGier)) / 512; // expo y = ax + bx² |
| + tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| + sollGier = tmp_int; |
| + Mess_Integral_Gier -= tmp_int; |
| + if(Mess_Integral_Gier > 25000) Mess_Integral_Gier = 25000; // begrenzen |
| + if(Mess_Integral_Gier <-25000) Mess_Integral_Gier =-25000; |
| + |
| + ANALOG_ON; // ADC einschalten |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Kompass |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + if(NeueKompassRichtungMerken) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + Mess_Integral_Gier -= (KompassRichtung * Parameter_KompassWirkung) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + } |
| + |
| + |
| + |
| + |
| +/* if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| + { |
| + int w,v; |
| + static int SignalSchlecht = 0; |
| + w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| + v = abs(IntegralRoll /512); |
| + if(v > w) w = v; // grösste Neigung ermitteln |
| + if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| + { |
| + KompassStartwert = KompassValue; |
| + NeueKompassRichtungMerken = 0; |
| + } |
| + w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| + w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| + if(w > 0) |
| + { |
| + ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| + if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| + ANALOG_ON; // ADC einschalten |
| + if(SignalSchlecht) SignalSchlecht--; |
| + } |
| + else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| + } |
| +*/ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// GPS |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| +{ |
| + P_GPS_Verstaerkung = Parameter_UserParam1; |
| + D_GPS_Verstaerkung = Parameter_UserParam2; |
| + Limit_D_Anteil = Parameter_UserParam3; |
| + gps_main(); |
| +} |
| +else |
| +{ |
| + GPS_Nick = 0; |
| + GPS_Roll = 0; |
| +} |
| + |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debugwerte zuordnen |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + if(!TimerWerteausgabe--) |
| + { |
| + TimerWerteausgabe = 49; |
| + |
| + DebugOut.Analog[0] = actualPos.GPSFix; |
| + DebugOut.Analog[1] = GPS_Roll; |
| + DebugOut.Analog[2] = GPS_Nick; |
| + DebugOut.Analog[3] = GPS_Positionsabweichung_North; |
| + DebugOut.Analog[4] = GPS_Positionsabweichung_East; |
| + DebugOut.Analog[5] = P_Einfluss_East; |
| + DebugOut.Analog[6] = D_Einfluss_East; |
| + DebugOut.Analog[7] = KompassRichtung; |
| + DebugOut.Analog[8] = KompassValue; |
| + DebugOut.Analog[9] = MM3.x_axis; |
| + DebugOut.Analog[10] = MM3.y_axis; |
| + DebugOut.Analog[11] = MM3.z_axis; |
| + DebugOut.Analog[12] = Parameter_UserParam2; |
| + DebugOut.Analog[13] = Poti3; |
| + DebugOut.Analog[14] = KompassValue; |
| + DebugOut.Analog[15] = GPS_Home_North; |
| + DebugOut.Analog[16] = GPS_Home_East; |
| + DebugOut.Analog[17] = NORTH_MITTEL; |
| + DebugOut.Analog[18] = EAST_MITTEL; |
| + DebugOut.Analog[19] = actualPos.northing; |
| + DebugOut.Analog[20] = actualPos.easting; |
| + DebugOut.Analog[21] = actualPos.velNorth; |
| + DebugOut.Analog[22] = actualPos.velEast; |
| + DebugOut.Analog[23] = UBat; |
| + DebugOut.Analog[24] = (motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3]); //Gesamtstrom |
| + DebugOut.Analog[25] = StickRoll; |
| + DebugOut.Analog[26] = HoehenWert; |
| + DebugOut.Analog[27] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[28] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| + DebugOut.Analog[29] = Mittelwert_AccNick; |
| + DebugOut.Analog[30] = Mittelwert_AccRoll; |
| + DebugOut.Analog[31] = StickNick; |
| + } |
| +/* |
| +DebugOut.Analog[0] = MM3.NickGrad; |
| +DebugOut.Analog[1] = MM3.RollGrad; |
| +DebugOut.Analog[9] = MM3.x_axis; |
| +DebugOut.Analog[10] = MM3.y_axis; |
| +DebugOut.Analog[11] = MM3.z_axis; |
| +*/ |
| + |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// 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; |
| + |
| + // 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 - 40; // Parameter_MaxHoehe ist der PPM-Wert des Schalters // (160607Kr) |
| + HoehenReglerAktiv = 0; |
| + } |
| + else |
| + HoehenReglerAktiv = 1; |
| + } |
| + else |
| + { |
| + SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 40; // (160607Kr) |
| + 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 > (MUL_G * GasMischanteil)) GierMischanteil = MUL_G * GasMischanteil; |
| + if(GierMischanteil < -(MUL_G * GasMischanteil)) GierMischanteil = -(MUL_G * GasMischanteil); |
| + if(GierMischanteil > 100) GierMischanteil = 100; |
| + if(GierMischanteil < -100) GierMischanteil = -100; |
| + |
| + if(GasMischanteil < 20) GierMischanteil = 0; |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Nick-Achse |
| +// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + |
| + DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| + SummeNick += DiffNick; // I-Anteil |
| + if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| + if(SummeNick > 16000) SummeNick = 16000; |
| + if(SummeNick < -16000) SummeNick = -16000; |
| + pd_ergebnis = DiffNick;// + Ki * SummeNick; // PI-Regler für Nick |
| + // Motor Vorn |
| +#define MUL 2 |
| + if(pd_ergebnis > MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = MUL * (GasMischanteil + abs(GierMischanteil)); |
| + if(pd_ergebnis < -MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = -MUL * (GasMischanteil + abs(GierMischanteil)); |
| + |
| + 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 = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| + SummeRoll += DiffRoll; // I-Anteil |
| + if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| + if(SummeRoll > 16000) SummeRoll = 16000; |
| + if(SummeRoll < -16000) SummeRoll = -16000; |
| + pd_ergebnis = DiffRoll;// + Ki * SummeRoll; // PI-Regler für Roll |
| + if(pd_ergebnis > MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = MUL * (GasMischanteil + abs(GierMischanteil)); |
| + if(pd_ergebnis < -MUL * (GasMischanteil + abs(GierMischanteil))) pd_ergebnis = -MUL * (GasMischanteil + abs(GierMischanteil)); |
| + // 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/fc.h |
|---|
| 0,0 → 1,128 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned int I2CTimeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| extern unsigned int modell_fliegt_gps;//(030907Kr) |
| extern unsigned char Limit_D_Anteil;//(210907Kr) |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| //Nick666 Kompass |
| void Piep(unsigned char Anzahl); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; //PPM24-Erweiterung (121007Kr) |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| 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 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; |
| #endif //_FC_H |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/flight-ctrl_mega644_v0_64.aws |
|---|
| 0,0 → 1,0 |
| <AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="E:\hubi\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\beta\v064JokoGPSNick666MM_1_1_compiled\main.c" Position="330 71 1176 569" LineCol="127 0" State="Maximized"/><File00001 Name="E:\hubi\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\beta\v064JokoGPSNick666MM_1_1_compiled\compass.c" Position="327 65 1173 563" LineCol="47 0" State="Maximized"/><File00002 Name="E:\hubi\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\beta\v064JokoGPSNick666MM_1_1_compiled\compass.h" Position="299 84 845 452" LineCol="37 0" State="Maximized"/><File00003 Name="E:\hubi\mickrokopter\a Versions\version system\flightcontrol\branches\MergedVersionsByOsiair\beta\v064JokoGPSNick666MM_1_1_compiled\fc.c" Position="336 71 1182 569" LineCol="864 0" State="Maximized"/></Files></AVRWorkspace> |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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></Project> |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/gps.h |
|---|
| 0,0 → 1,26 |
| extern long P_Einfluss_North; |
| extern long D_Einfluss_North; |
| extern long P_Einfluss_East; |
| extern long D_Einfluss_East; |
| extern long GPS_Positionsabweichung_North; |
| extern long GPS_Positionsabweichung_East; |
| extern long GPS_Geschwindigkeit_North; |
| extern long GPS_Geschwindigkeit_East; |
| extern long GPS_Home_North; |
| extern long GPS_Home_East; |
| extern long Soll_Position_North; |
| extern long Soll_Position_East; |
| extern volatile long EAST_MITTEL; |
| extern volatile long NORTH_MITTEL; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/main.c |
|---|
| 0,0 → 1,257 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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" |
| //unsigned char EEPromArray[E2END+1] EEMEM; |
| unsigned char EEPromArray[501] EEMEM; //Nick666 Kompass |
| 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; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * 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; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * 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 |
| //Nick666 |
| PORTB |= (1<<PB0); // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| //Nick666 |
| DDRD |= (1<<PD7); // J7 |
| /* |
| PORTB = 0x01; // LED_Rot |
| DDRD |=0x80; // J7 |
| */ |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| //Nick666 |
| beeptime = 1000; |
| //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(); |
| MM3_init(); //Nick666 |
| 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 ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| #define EE_DATENREVISION 62 // 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(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 2); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| 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"); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) MM3_calib(); |
| } |
| 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 |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| 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; |
| } |
| } |
| timer = SetDelay(100); |
| } |
| } |
| return (1); |
| } |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/main.h |
|---|
| 0,0 → 1,127 |
| #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 PORTB &=~(1<<PB0) |
| #define ROT_ON PORTB |= (1<<PB0) |
| #define ROT_FLASH PORTB ^= (1<<PB0) |
| #define GRN_OFF PORTB &=~(1<<PB1) |
| #define GRN_ON PORTB |= (1<<PB1) |
| #define GRN_FLASH PORTD ^= (1<<PB1) |
| /* |
| #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 LED1_OFF PORTC &=~0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED1_ON PORTC |= 0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED1_FLASH PORTC ^= 0x04 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
| #define LED2_OFF PORTC &=~0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED2_ON PORTC |= 0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED2_FLASH PORTC ^= 0x08 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //#define ANZ_MITTELWERT 4 |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_LAST_OFFSET 3 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #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_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 int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| long durchschnitt_northing; |
| long durchschnitt_easting; |
| volatile int P_GPS_Verstaerkung; //P-Anteil (80-120) |
| volatile int D_GPS_Verstaerkung; //D-Anteil (90) |
| #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 "compass.h" //Nick666 |
| #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 "math.h" //Nick666 |
| #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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/makefile |
|---|
| 0,0 → 1,392 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 64 |
| VERSION_KOMPATIBEL = 5 # 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). |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c compass.c math.c |
| SRC += twimaster.c rc.c fc.c GPS.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -mtiny-stack -mcall-prologues -Wno-pointer-sign \ |
| -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=$(VERSION_KOMPATIBEL) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/math.c |
|---|
| 0,0 → 1,118 |
| /* |
| 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[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
| // 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==0) return (90*m); // atan2 = 90° für x = 0 |
| i = abs(((float)y / x) * 50); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
| if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
| else if (i>5750) angle = 90; // Grenzwert ist 90° |
| else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
| else if (i>=1150) angle = 88; |
| else if (i>=820) angle = 87; |
| else if (i>=640) angle = 86; |
| else if (i>=520) angle = 85; |
| else if (i>=440) angle = 84; |
| else if (i>=380) angle = 83; |
| else if (i>=335) angle = 82; |
| else if (i>=299) angle = 81; |
| else angle = 80; // (i>=270) |
| if (x > 0) return (angle*m); // Quadrant I und IV |
| else if ((x < 0) && (y >= 0)) return ((angle*-1) + 180); // Quadrant II |
| else return (angle - 180); // x < 0 && y < 0 Quadrant III |
| } |
| const float pgm_sinus_f [91] PROGMEM = {0.000,0.017,0.035,0.052,0.070,0.087,0.105,0.122,0.139,0.156,0.174,0.191,0.208,0.225,0.242,0.259,0.276,0.292,0.309,0.326,0.342,0.358,0.375,0.391,0.407,0.423,0.438,0.454,0.469,0.485,0.500,0.515,0.530,0.545,0.559,0.574,0.588,0.602,0.616,0.629,0.643,0.656,0.669,0.682,0.695,0.707,0.719,0.731,0.743,0.755,0.766,0.777,0.788,0.799,0.809,0.819,0.829,0.839,0.848,0.857,0.866,0.875,0.883,0.891,0.899,0.906,0.914,0.921,0.927,0.934,0.940,0.946,0.951,0.956,0.961,0.966,0.970,0.974,0.978,0.982,0.985,0.988,0.990,0.993,0.995,0.996,0.998,0.999,0.999,1.000,1.000}; |
| inline float pgm_read_float(const float *addr) |
| { |
| union |
| { |
| uint16_t i[2]; // 2 16-bit-Worte |
| float f; |
| } u; |
| u.i[0]=pgm_read_word((PGM_P)addr); |
| u.i[1]=pgm_read_word((PGM_P)addr+2); |
| return u.f; |
| } |
| // Kosinusfunktion im Gradmaß |
| float cos_f(signed int winkel) |
| { |
| return (sin_f(90-winkel)); |
| } |
| // Sinusfunktion im Gradmaß |
| float sin_f(signed int winkel) |
| { |
| short int m,n; |
| float sinus; |
| //winkel = winkel % 360; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| // Quadranten auswerten |
| if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
| else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
| else if ((winkel > 270) && (winkel <= 360)) {winkel = 360 - winkel; n = -1;} |
| else n = 1; //0 - 90 Grad |
| sinus = pgm_read_float(&pgm_sinus_f[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; |
| return (pgm_read_byte(&pgm_asin[i]) * m); |
| } |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/math.h |
|---|
| 0,0 → 1,11 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock |
| // Definitionen fuer Modul math |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| extern signed int atan2_i(signed int x, signed int y); |
| extern float cos_f(signed int winkel); |
| extern float sin_f(signed int winkel); |
| extern int8_t asin_i(signed int i); |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/menu.c |
|---|
| 0,0 → 1,124 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 = 11,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| 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",PlatinenVersion/10,PlatinenVersion%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| 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"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*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,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Erweiterung (121007Kr) |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Erweiterung (121007Kr) |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Erweiterung (121007Kr) |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Erweiterung (121007Kr) |
| 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 kalib."); |
| LCD_printfxy(0,1,"X_Offset: %3i",X_off); |
| LCD_printfxy(0,2,"Y_Offset: %3i",Y_off); |
| LCD_printfxy(0,3,"Z_Offset: %3i",Z_off); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/menu.h |
|---|
| 0,0 → 1,7 |
| void LcdClear(void); //Nick666 |
| extern void Menu(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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 |
| extern 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/rc.c |
|---|
| 0,0 → 1,85 |
| /*####################################################################################### |
| 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[15]; //PPM24-Erweiterung (121007Kr) |
| volatile int PPM_diff[15]; // das diffenzierte Stick-Signal //PPM24-Erweiterung (121007Kr) |
| 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 > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 14) //PPM24-Erweiterung (121007Kr) |
| { |
| 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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[15]; //PPM24-Erweiterung (121007Kr) |
| extern volatile int PPM_diff[15]; // das diffenzierte Stick-Signal //PPM24-Erweiterung (121007Kr) |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/timer0.c |
|---|
| 0,0 → 1,187 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 800; |
| 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) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<PD2); |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| PORTD &= ~(1<<PD2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| MM3_timer0(); // Kompass auslesen |
| if (!cntKompass--) // Aufruf mit 10 Hz |
| { |
| // KompassValue = MM3_heading(); |
| // OsiAir hier machen wir den den KompassValue zu 0-359 damit das GPS damit weiterarbeiten kann |
| if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();} |
| if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;} |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 800; |
| } |
| } |
| } |
| 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 || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| } |
| */ |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| //TCNT0 = -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)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/timer0.c.bak |
|---|
| 0,0 → 1,183 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 800; |
| 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) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| PORTD |= (1<<PD2); |
| 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); |
| } |
| PORTD &= ~(1<<PD2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| MM3_timer0(); // Kompass auslesen |
| if (!cntKompass--) // Aufruf mit 10 Hz |
| { |
| // KompassValue = MM3_heading(); |
| // OsiAir hier machen wir den den KompassValue zu 0-359 damit das GPS damit weiterarbeiten kann |
| if (MM3_heading() > 0) { KompassValue = 360-MM3_heading();} |
| if (MM3_heading() < 0 ) { KompassValue = MM3_heading()*-1;} |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 800; |
| } |
| } |
| } |
| /* |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| } |
| */ |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| //TCNT0 = -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)); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/timer0.h |
|---|
| 0,0 → 1,15 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(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 volatile unsigned int cntKompass; |
| extern int ServoValue; |
| extern unsigned int BeepMuster; |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/twimaster.h |
|---|
| 0,0 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #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_init (void); // I2C initialisieren |
| char i2c_start (void); // Start I2C |
| void i2c_stop (void); // Stop I2C |
| char i2c_write_byte (char byte); // 1 Byte schreiben |
| #endif |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/uart.c |
|---|
| 0,0 → 1,652 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // + |
| // + GPS read out: |
| // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
| // + only for non-profit use |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #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 PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| static uint8_t gpsState; |
| #define GPS_EMPTY 0 |
| #define GPS_SYNC1 1 |
| #define GPS_SYNC2 2 |
| #define GPS_CLASS 3 |
| #define GPS_LEN1 4 |
| #define GPS_LEN2 5 |
| #define GPS_FILLING 6 |
| #define GPS_CKA 7 |
| #define GPS_CKB 8 |
| gpsInfo_t actualPos; // measured position (last gps record) |
| #define SYNC_CHAR1 0xb5 |
| #define SYNC_CHAR2 0x62 |
| #define CLASS_NAV 0x01 |
| #define MSGID_POSECEF 0x01 |
| #define MSGID_STATUS 0x03 |
| #define MSGID_VELECEF 0x11 |
| #define MSGID_POSUTM 0x08 |
| #define MSGID_VELNED 0x12 |
| typedef struct { |
| unsigned long ITOW; // time of week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| uint8_t DiffS; // Differential Status |
| uint8_t res; // reserved |
| unsigned long TTFF; // Time to first fix (millisecond time tag) |
| unsigned long MSSS; // Milliseconds since Startup / Reset |
| uint8_t packetStatus; |
| } NAV_STATUS_t; |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long LON; // longitude in 1e-07 deg |
| long LAT; // lattitude |
| long HEIGHT; // height in mm |
| long HMSL; // height above mean sea level im mm |
| unsigned long Hacc; // horizontal accuracy in mm |
| unsigned long Vacc; // vertical accuracy in mm |
| uint8_t packetStatus; |
| } NAV_POSLLH_t; |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long EAST; // cm UTM Easting |
| long NORTH; // cm UTM Nording |
| long ALT; // cm altitude |
| uint8_t ZONE; // UTM zone number |
| uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
| uint8_t packetStatus; |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long VEL_N; // cm/s NED north velocity |
| long VEL_E; // cm/s NED east velocity |
| long VEL_D; // cm/s NED down velocity |
| unsigned long Speed; // cm/s Speed (3-D) |
| unsigned long GSpeed; // cm/s Ground Speed (2-D) |
| long Heading; // deg (1e-05) Heading 2-D |
| unsigned long SAcc; // cm/s Speed Accuracy Estimate |
| unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t packetStatus; |
| } NAV_VELNED_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEF_X; // ecef x / cm |
| long ECEF_Y; // ecef y / cm |
| long ECEF_Z; // ecef z / cm |
| unsigned long Pacc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_POSECEF_t ; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long ECEFVX; // ecef x velocity cm/s |
| long ECEFVY; // ecef y velocity cm/s |
| long ECEFVZ; // ecef z velocity cm/s |
| unsigned long SAcc; // Abweichung |
| uint8_t packetStatus; |
| } NAV_VELECEF_t; |
| NAV_STATUS_t navStatus; |
| NAV_POSECEF_t navPosECEF; |
| NAV_VELECEF_t navVelECEF; |
| NAV_POSUTM_t navPosUtm; |
| NAV_VELNED_t navVelNed; |
| volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
| volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
| volatile unsigned short msgLen; |
| volatile uint8_t msgID; |
| volatile uint8_t ignorePacket; // true when previous packet was not processed |
| // distance to target position |
| long rollOffset; // in 10cm |
| long nickOffset; |
| #define GPS_INTCYCLES 100 |
| #define GPS_I_LIMIT (long)(40 * MAINLOOPS_PER_SEC) |
| #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
| extern volatile uint8_t v24state; |
| char buf[200]; |
| char *bp; |
| char *ep; |
| #endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ 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; |
| } |
| void GPSscanData (void) |
| { |
| if (navPosECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.x = navPosECEF.ECEF_X; //ECEF X in cm |
| actualPos.y = navPosECEF.ECEF_Y; //ECEF Y in cm |
| actualPos.z = navPosECEF.ECEF_Z; //ECEF Z in cm |
| navPosECEF.packetStatus = 0; |
| } |
| if (navStatus.packetStatus == 1) // valid packet |
| { |
| actualPos.GPSFix = navStatus.GPSfix; |
| actualPos.newData = navStatus.packetStatus; |
| navStatus.packetStatus = 0; |
| } |
| if (navVelECEF.packetStatus == 1) // valid packet |
| { |
| actualPos.vx = navVelECEF.ECEFVX; //ECEF VEL X in cm/s |
| actualPos.vy = navVelECEF.ECEFVY; //ECEF VEL Y in cm/s |
| actualPos.vz = navVelECEF.ECEFVZ; //ECEF VEL Z in cm/s |
| navVelECEF.packetStatus = 0; |
| } |
| if (navPosUtm.packetStatus == 1) // valid packet |
| { |
| actualPos.northing = navPosUtm.NORTH; |
| actualPos.easting = navPosUtm.EAST; |
| actualPos.altitude = navPosUtm.ALT; |
| navPosUtm.packetStatus = 0; |
| } |
| if (navVelNed.packetStatus == 1) |
| { |
| actualPos.velNorth = navVelNed.VEL_N; |
| actualPos.velEast = navVelNed.VEL_E; |
| navVelNed.packetStatus = 0; |
| } |
| if (actualPos.newData != 0){ROT_ON;} //-> Rot blinkt mit 4Hz wenn Daten vom GPS Empfänger ankommen und brauchbar sind |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ 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; |
| uint8_t c; |
| uint8_t re; |
| re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
| c = SioTmp; |
| #ifdef GPS_DEBUG |
| *bp++ = c; |
| if (bp >= (buf+200)) bp = buf; |
| if (v24state == 0) |
| { |
| v24state = 1; |
| UDR0 = *ep++; |
| if (ep >= buf+200) |
| ep = buf; |
| UCSR0B |= _B1(UDRIE0); //enable further irqs |
| } |
| #endif |
| if (re == 0) |
| { |
| switch (gpsState) |
| { |
| case GPS_EMPTY: |
| if (c == SYNC_CHAR1) |
| gpsState = GPS_SYNC1; |
| break; |
| case GPS_SYNC1: |
| if (c == SYNC_CHAR2) |
| gpsState = GPS_SYNC2; |
| else if (c != SYNC_CHAR1) |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_SYNC2: |
| if (c == CLASS_NAV) |
| gpsState = GPS_CLASS; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CLASS: // msg ID seen: init packed receive |
| msgID = c; |
| CK_A = CLASS_NAV + c; |
| CK_B = CLASS_NAV + CK_A; |
| gpsState = GPS_LEN1; |
| switch (msgID) |
| { |
| case MSGID_STATUS: |
| ubxP = (char*)&navStatus; |
| ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
| ubxSp = (char*)&navStatus.packetStatus; |
| ignorePacket = navStatus.packetStatus; |
| break; |
| case MSGID_POSECEF: |
| ubxP = (char*)&navPosECEF; |
| ubxEp = (char*)(&navPosECEF + sizeof(NAV_POSECEF_t)); |
| ubxSp = (char*)&navPosECEF.packetStatus; |
| ignorePacket = navPosECEF.packetStatus; |
| break; |
| case MSGID_VELECEF: |
| ubxP = (char*)&navVelECEF; |
| ubxEp = (char*)(&navVelECEF + sizeof(NAV_VELECEF_t)); |
| ubxSp = (char*)&navVelECEF.packetStatus; |
| ignorePacket = navVelECEF.packetStatus; |
| break; |
| case MSGID_POSUTM: |
| ubxP = (char*)&navPosUtm; |
| ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
| ubxSp = (char*)&navPosUtm.packetStatus; |
| ignorePacket = navPosUtm.packetStatus; |
| break; |
| case MSGID_VELNED: |
| ubxP = (char*)&navVelNed; |
| ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
| ubxSp = (char*)&navVelNed.packetStatus; |
| ignorePacket = navVelNed.packetStatus; |
| break; |
| default: |
| ignorePacket = 1; |
| ubxSp = (char*)0; |
| } |
| break; |
| case GPS_LEN1: // first len byte |
| msgLen = c; |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_LEN2; |
| break; |
| case GPS_LEN2: // second len byte |
| msgLen = msgLen + (c * 256); |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_FILLING; // next data will be stored in packet struct |
| break; |
| case GPS_FILLING: |
| CK_A += c; |
| CK_B += CK_A; |
| if ( !ignorePacket && ubxP < ubxEp) |
| *ubxP++ = c; |
| if (--msgLen == 0) |
| gpsState = GPS_CKA; |
| break; |
| case GPS_CKA: |
| if (c == CK_A) |
| gpsState = GPS_CKB; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CKB: |
| if (c == CK_B && ubxSp) // No error -> packet received successfully |
| *ubxSp = 1; // set packetStatus in struct |
| gpsState = GPS_EMPTY; // ready for next packet |
| break; |
| default: |
| gpsState = GPS_EMPTY; // ready for next packet |
| } |
| } |
| else // discard any data if error occured |
| { |
| gpsState = GPS_EMPTY; |
| GPSscanData (); //Test kann ggf. wieder gelöscht werden! |
| } |
| GPSscanData (); |
| 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]; |
| /* |
| 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 '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]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),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], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| 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); |
| gpsState = GPS_EMPTY; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| static char dis_zeile = 0; |
| 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(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) |
| { |
| SendOutData('4',0,&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| dis_zeile = -1; |
| } |
| else SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/uart.h |
|---|
| 0,0 → 1,119 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| 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 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 unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[2]; |
| unsigned int Analog[32]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| #define _B1(bit) (1 << (bit)) |
| #define _B0(bit) (0 << (bit)) |
| typedef struct |
| { |
| long x; // in cm (+ = north) |
| long y; // in cm (+ = east) |
| long z; // in cm |
| long vx; |
| long vy; |
| long vz; |
| long northing; |
| long easting; |
| long altitude; |
| long velNorth; |
| long velEast; |
| uint8_t newData; // status of data: 0 = invlid; 1 = valid |
| uint8_t GPSFix; |
| uint8_t noSV; // number of sats |
| } gpsInfo_t; |
| extern gpsInfo_t lockedPos; // stored position to fly to |
| extern gpsInfo_t actualPos; // measured position (last gps record) |
| extern void GPSscanData (void); |
| extern void GPSupdate(void); |
| extern void GPSsaveTarget (uint8_t mode); |
| 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/MergedVersionsByOsiair/beta/v064JokoGPSNick666MM_1_1_compiled/version.txt |
|---|
| 0,0 → 1,104 |
| ------- |
| 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 |
| - Höhenreglerabsenkung von -20 auf -40 (fc.c) |
| - LED1 und LED2 Ansteuerung (fc.c) und (main.h) |
| - geänderte Kanalbelegung K1 mit K3 getauscht, Unterspannungsschwelle (9,5V) und StickD (fc.c) |
| - P,D Anteil seperat in Variable geschrieben und auf das Analog Display Ausgegeben (Kopter Tool) |
| - GPS_Nick und GPS_Roll werden nach Deaktivierung von Position-Hold auf Null gesetzt, um ein Einfrieren der GPS Steuerwerte auf den letzten Wert zu verhindern |
| - Funktionsaufruf der GPS-Funktion von Chris/Hallo2 |
| - UART.C für die GPS Signale im UTM Format auf Pitschu basierend |
| - meine GPS.c-Routine |
| - Mircos variable Filterung (funktioniert nur wenn 250ms Aufruf aktiv ist) |
| - GPS wird deaktiviert und Summer eingeschaltet, wenn kein 3D-Fix (mehr) vorhanden |
| - Statusanzeige auf eine LED reduziert (aus, blinkend, an) |
| - blinkender LED_1 Ausgang für Positionsleuchten (einstellbar über Userparam.4) |
| - Homing-Fkt. eingebaut |
| - Diverse Absicherungen gegen Fehlbedienungen (z.B. nicht gelernte Home-Position, ...) |
| - Rotationsmatrix mit Kompass, damit die GPS-Fkt. nicht nur nach Norden ausgerichtet funktioniert |
| - dyn. Position Hold -> normaler Rundflug möglich |
| - Limit_D_Anteil = Userparam3 um im Homing- bzw. Waypointmodus die Sollposition gleichmäßiger anzufliegen |
| - Die Berechnung von Kompassvalue wird jetzt auch über den GPS Haken im Koptertool aktiviert |
| - 12 Kanal Erweiterung (rc.c; rc.h; fc.c; fc.h; menu.c) |
| - D-Anteil_Limit wegen HOMING ->> Radius von 700 cm -> 250 cm |
| - ... |
| (- Regelung wird nur noch alle 250 ms aufgerufen) |