| /branches/V0.68d Code Redesign killagreg/FlightCtrl.aps |
|---|
| 0,0 → 1,0 |
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|
| /branches/V0.68d Code Redesign killagreg/GPS.c |
|---|
| 0,0 → 1,30 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| long GpsAktuell_X = 0; |
| long GpsAktuell_Y = 0; |
| long GpsZiel_X = 0; |
| long GpsZiel_Y = 0; |
| void GPS_Neutral(void) |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| } |
| void GPS_BerechneZielrichtung(void) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| /branches/V0.68d Code Redesign killagreg/Hex-Files/BootLoader_MEGA644_20MHZ_V0_1.hex |
|---|
| 0,0 → 1,64 |
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| :040000030000F80001 |
| :00000001FF |
| /branches/V0.68d Code Redesign killagreg/Hex-Files/Flight-Ctrl_MEGA644_V0_68d.hex |
|---|
| 0,0 → 1,2062 |
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| /branches/V0.68d Code Redesign killagreg/Hex-Files/WasIstWas.txt |
|---|
| 0,0 → 1,15 |
| +++++++++++++++++++++++++ |
| + Flight-Ctrl: |
| +++++++++++++++++++++++++ |
| BootLoader_MEGA644_20MHZ_V0_1.hex |
| Der Bootloader wird per ISP eingespielt |
| Der Bootloader nur dann eingespielt werden, wenn noch nie ein Bootloader eingespielt wurde! |
| Danach können Softwareupdates seriell eingespielt werden. |
| Flight-Ctrl_MEGA644_Vx_yy.hex |
| Aktuelle Firmware |
| Wird per serielle Schnittstelle (durch den Bootloader) eingespielt |
| Flight-Ctrl SW > 0.62 benötigt das Kopter-Tool >1.47 |
| /branches/V0.68d Code Redesign killagreg/Kopter-Tool/MikroKopter-Tool.exe |
|---|
| 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/V0.68d Code Redesign killagreg/License.txt |
|---|
| 0,0 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nichtkommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-profit use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet, our webpage (http://www.MikroKopter.de) must be |
| // + clearly linked and named as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /branches/V0.68d Code Redesign killagreg/Settings.h |
|---|
| --- V0.68d Code Redesign killagreg/_Settings.h (nonexistent) |
| +++ V0.68d Code Redesign killagreg/_Settings.h (revision 683) |
| @@ -0,0 +1,50 @@ |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Testmodi |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define MOTOR_OFF 0 |
| +#define MOTOR_TEST 0 |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Abstimmung |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define ACC_AMPLIFY 12 |
| +#define FAKTOR_P 1 |
| +#define FAKTOR_I 0.0001 |
| + |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Debug-Interface |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| +#define MIN_DEBUG_INTERVALL 500 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| + |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| +// Sender |
| +// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| + #define K_NICK 0 |
| + #define K_ROLL 1 |
| + #define K_GAS 2 |
| + #define K_GIER 3 |
| + #define K_POTI1 4 |
| + #define K_POTI2 5 |
| + #define K_POTI3 6 |
| + #define K_POTI4 7 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Kamera |
| +// Stick_P:3 |
| +// Stick_D:0 |
| +// Gyro_P: 175 |
| +// Gyro_I: 175 |
| +// Ki_Anteil: 10 |
| +// +++++++++++++++++++++++++++++++ |
| +// + Getestete Settings: |
| +// +++++++++++++++++++++++++++++++ |
| +// Setting: Normal |
| +// Stick_P:2 |
| +// Stick_D:8 |
| +// Gyro_P: 80 |
| +// Gyro_I: 150 |
| +// Ki_Anteil: 5 |
| + |
| /branches/V0.68d Code Redesign killagreg/analog.c |
|---|
| 0,0 → 1,175 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 int16_t Current_Nick = 0, Current_Roll = 0, Current_Gier = 0; |
| volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0; |
| volatile int16_t UBat = 100; |
| volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrGier = 0; |
| volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0; |
| volatile uint8_t messanzahl_AccHoch = 0; |
| volatile int32_t Luftdruck = 32000; |
| volatile int16_t StartLuftdruck; |
| volatile uint16_t MessLuftdruck = 1023; |
| uint8_t DruckOffsetSetting; |
| volatile int16_t HoeheD = 0; |
| volatile int16_t tmpLuftdruck; |
| volatile uint16_t ZaehlMessungen = 0; |
| /*****************************************************/ |
| /* Initialize Analog Digital Converter */ |
| /*****************************************************/ |
| void ADC_Init(void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
| DDRA = 0x00; |
| PORTA = 0x00; |
| // Digital Input Disable Register 0 |
| // Disable digital input buffer for analog adc_channel pins |
| DIDR0 = 0xFF; |
| // external reference, adjust data to the right |
| ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
| // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| ADMUX = (ADMUX & 0xE0) | 0x00; |
| //Set ADC Control and Status Register A |
| //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
| ADCSRA = (1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
| //Set ADC Control and Status Register B |
| //Trigger Source to Free Running Mode |
| ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
| // Enable AD conversion |
| ADC_Enable(); |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| Delay_ms_Mess(100); |
| if(MessLuftdruck < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| DruckOffsetSetting = off; |
| Delay_ms_Mess(300); |
| } |
| /*****************************************************/ |
| /* Interrupt Service Routine for ADC */ |
| /*****************************************************/ |
| ISR(ADC_vect) |
| { |
| static uint8_t adc_channel = 0, state = 0; |
| static uint16_t gier1, roll1, nick1; |
| static uint8_t messanzahl_Druck = 0; |
| // disable further AD conversion |
| ADC_Disable(); |
| // state machine |
| switch(state++) |
| { |
| case 0: |
| gier1 = ADC; // get Gyro Gier Voltage 1st sample |
| adc_channel = 1; // set next channel to ADC1 = ROLL GYRO |
| ZaehlMessungen++; // increment total measurement counter |
| break; |
| case 1: |
| roll1 = ADC; // get Gyro Roll Voltage 1st sample |
| adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
| break; |
| case 2: |
| nick1 = ADC; // get Gyro Nick Voltage 1st sample |
| adc_channel = 4; // set next channel to ADC4 = UBAT |
| break; |
| case 3: |
| // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3 |
| UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value |
| adc_channel = 6; // set next channel to ADC6 = ACC_Y |
| break; |
| case 4: |
| Current_AccY = NeutralAccY - ADC; // get acceleration in Y direction |
| AdValueAccRoll = Current_AccY; |
| adc_channel = 7; // set next channel to ADC7 = ACC_X |
| break; |
| case 5: |
| Current_AccX = ADC - NeutralAccX; // get acceleration in X direction |
| AdValueAccNick = Current_AccX; |
| adc_channel = 0; // set next channel to ADC7 = GIER GYRO |
| break; |
| case 6: |
| // average over two samples to create current ADValueGier |
| if(PlatinenVersion == 10) AdValueGyrGier = (ADC + gier1) / 2; |
| else AdValueGyrGier = ADC + gier1; // gain is 2 times lower on FC 1.1 |
| adc_channel = 1; // set next channel to ADC7 = ROLL GYRO |
| break; |
| case 7: |
| // average over two samples to create current ADValueRoll |
| if(PlatinenVersion == 10) AdValueGyrRoll = (ADC + roll1) / 2; |
| else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1 |
| adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
| break; |
| case 8: |
| // average over two samples to create current ADValueNick |
| if(PlatinenVersion == 10) AdValueGyrNick = (ADC + nick1) / 2; |
| else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1 |
| adc_channel = 5; // set next channel to ADC5 = ACC_Z |
| break; |
| case 9: |
| // get z acceleration |
| AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction |
| AdValueAccTop += abs(Current_AccY) / 4 + abs(Current_AccX) / 4; |
| if(AdValueAccTop > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(AdValueAccTop < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Current_AccZ = ADC; |
| Mess_Integral_Hoch += AdValueAccTop; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| adc_channel = 3; // set next channel to ADC3 = air pressure |
| break; |
| case 10: |
| tmpLuftdruck += ADC; // sum vadc values |
| if(++messanzahl_Druck >= 5) // if 5 values are summerized for averaging |
| { |
| MessLuftdruck = ADC; // update measured air pressure |
| messanzahl_Druck = 0; // reset air pressure measurement counter |
| HoeheD = (int16_t)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; // averaging using history |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| adc_channel = 0; // set next channel to ADC0 = GIER GYRO |
| state = 0; // reset state |
| break; |
| default: |
| adc_channel = 0; |
| state = 0; |
| break; |
| } |
| // set adc muxer to next adc_channel |
| ADMUX = (ADMUX & 0xE0) | adc_channel; |
| // ?? |
| if(state != 0) ADC_Enable(); |
| } |
| /branches/V0.68d Code Redesign killagreg/analog.h |
|---|
| 0,0 → 1,26 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int16_t UBat; |
| extern volatile int16_t AdValueGyrNick, AdValueGyrRoll, AdValueGyrGier; |
| extern volatile int16_t AdValueAccRoll, AdValueAccNick, AdValueAccTop; |
| extern volatile int16_t Current_Nick, Current_Roll, Current_Gier; |
| extern volatile int16_t Current_AccX, Current_AccY, Current_AccZ; |
| extern volatile int32_t Luftdruck; |
| extern volatile int8_t messanzahl_Druck; |
| extern volatile uint16_t ZaehlMessungen; |
| extern uint8_t DruckOffsetSetting; |
| extern volatile int16_t HoeheD; |
| extern volatile uint16_t MessLuftdruck; |
| extern volatile int16_t StartLuftdruck; |
| void SucheLuftruckOffset(void); |
| void ADC_Init(void); |
| // clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
| #define ADC_Disable() (ADCSRA &= ~((1<<ADEN)|(1<<ADSC)|(1<<ADIE))) |
| // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
| #define ADC_Enable() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
| /branches/V0.68d Code Redesign killagreg/eeprom.c |
|---|
| 0,0 → 1,182 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void DefaultKonstanten1(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // 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 = 12; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 80; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 32 * 4; //zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| EE_Parameter.AchsKopplung1 = 90; |
| EE_Parameter.AchsGegenKopplung1 = 5; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 16; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 100; |
| memcpy(EE_Parameter.Name, "Sport\0", 12); |
| } |
| void DefaultKonstanten2(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 3; // Wert : 0-50 |
| EE_Parameter.Stick_P = 3; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 4; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 80; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 120; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 20 * 4; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
| EE_Parameter.AchsGegenKopplung1 = 5; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 75; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| } |
| void DefaultKonstanten3(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = CFG_DREHRATEN_BEGRENZER | CFG_ACHSENKOPPLUNG_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 2; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 4; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 6; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 30; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 100; // Wert : 0-250 |
| EE_Parameter.Gyro_I = 140; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 16; |
| EE_Parameter.UserParam1 = 20 * 4; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 90; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
| EE_Parameter.AchsGegenKopplung1 = 5; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 32; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 50; |
| memcpy(EE_Parameter.Name, "Beginner\0", 12); |
| } |
| /branches/V0.68d Code Redesign killagreg/fc.c |
|---|
| 0,0 → 1,1133 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "eeprom.c" |
| unsigned char h,m,s; |
| volatile unsigned int I2CTimeout = 100; |
| volatile int MesswertNick,MesswertRoll,MesswertGier; |
| volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 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 IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 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 MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
| 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; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| float GyroFaktor; |
| float IntegralFaktor; |
| volatile int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| char MotorenEin = 0; |
| int HoehenWert = 0; |
| int SollHoehe = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| float Ki = FAKTOR_I; |
| unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| unsigned char Parameter_UserParam1 = 0; |
| unsigned char Parameter_UserParam2 = 0; |
| unsigned char Parameter_UserParam3 = 0; |
| unsigned char Parameter_UserParam4 = 0; |
| unsigned char Parameter_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 0; |
| unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| struct mk_param_struct EE_Parameter; |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| 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) |
| //############################################################################ |
| { |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsGegenKopplung1 = 0; |
| CalibrierMittelwert(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| AdNeutralNick= AdValueGyrNick; |
| AdNeutralRoll= AdValueGyrRoll; |
| AdNeutralGier= AdValueGyrGier; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| NeutralAccZ = Current_AccZ; |
| } |
| else |
| { |
| NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
| NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
| NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
| } |
| Mess_IntegralNick = 0; |
| Mess_IntegralNick2 = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralRoll2 = 0; |
| Mess_Integral_Gier = 0; |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| StartLuftdruck = Luftdruck; |
| HoeheD = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| GPS_Neutral(); |
| BeepTime = 50; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| ExternHoehenValue = 0; |
| } |
| //############################################################################ |
| // Bearbeitet die Messwerte |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| static signed long tmpl,tmpl2; |
| MesswertGier = (signed int) AdNeutralGier - AdValueGyrGier; |
| MesswertRoll = (signed int) AdValueGyrRoll - AdNeutralRoll; |
| MesswertNick = (signed int) AdValueGyrNick - AdNeutralNick; |
| //DebugOut.Analog[26] = MesswertNick; |
| DebugOut.Analog[28] = MesswertRoll; |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdValueAccNick))) / 2L; |
| Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdValueAccRoll))) / 2L; |
| Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdValueAccTop)) / 2L; |
| IntegralAccNick += ACC_AMPLIFY * AdValueAccNick; |
| IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
| IntegralAccZ += Current_AccZ - NeutralAccZ; |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_Integral_Gier += MesswertGier; |
| Mess_Integral_Gier2 += MesswertGier; |
| // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| { |
| tmpl = Mess_IntegralNick / 4096L; |
| tmpl *= MesswertGier; |
| tmpl *= Parameter_AchsKopplung1; //125 |
| tmpl /= 2048L; |
| tmpl2 = Mess_IntegralRoll / 4096L; |
| tmpl2 *= MesswertGier; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 2048L; |
| } |
| else tmpl = tmpl2 = 0; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertRoll += tmpl; |
| MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
| Mess_IntegralRoll2 += MesswertRoll; |
| Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
| if(Mess_IntegralRoll > Umschlag180Roll) |
| { |
| Mess_IntegralRoll = -(Umschlag180Roll - 10000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(Mess_IntegralRoll <-Umschlag180Roll) |
| { |
| Mess_IntegralRoll = (Umschlag180Roll - 10000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(AdValueGyrRoll < 15) MesswertRoll = -1000; |
| if(AdValueGyrRoll < 7) MesswertRoll = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdValueGyrRoll > 1010) MesswertRoll = +1000; |
| if(AdValueGyrRoll > 1017) MesswertRoll = +2000; |
| } |
| else |
| { |
| if(AdValueGyrRoll > 2020) MesswertRoll = +1000; |
| if(AdValueGyrRoll > 2034) MesswertRoll = +2000; |
| } |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertNick -= tmpl2; |
| MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
| Mess_IntegralNick2 += MesswertNick; |
| Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
| if(Mess_IntegralNick > Umschlag180Nick) |
| { |
| Mess_IntegralNick = -(Umschlag180Nick - 10000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(Mess_IntegralNick <-Umschlag180Nick) |
| { |
| Mess_IntegralNick = (Umschlag180Nick - 10000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(AdValueGyrNick < 15) MesswertNick = -1000; |
| if(AdValueGyrNick < 7) MesswertNick = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdValueGyrNick > 1010) MesswertNick = +1000; |
| if(AdValueGyrNick > 1017) MesswertNick = +2000; |
| } |
| else |
| { |
| if(AdValueGyrNick > 2020) MesswertNick = +1000; |
| if(AdValueGyrNick > 2034) MesswertNick = +2000; |
| } |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ADC_Enable(); |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| Integral_Gier = Mess_Integral_Gier; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
| { |
| if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| } |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ADC_Disable(); |
| MesswertNick = AdValueGyrNick; |
| MesswertRoll = AdValueGyrRoll; |
| MesswertGier = AdValueGyrGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * (long)AdValueAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdValueAccRoll; |
| Mittelwert_AccHoch = (long)AdValueAccTop; |
| // ADC einschalten |
| ADC_Enable(); |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| if(MOTOR_OFF || !MotorenEin) |
| { |
| Motor_Hinten = 0; |
| Motor_Vorne = 0; |
| Motor_Rechts = 0; |
| Motor_Links = 0; |
| if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| } |
| DebugOut.Analog[12] = Motor_Vorne; |
| DebugOut.Analog[13] = Motor_Hinten; |
| DebugOut.Analog[14] = Motor_Links; |
| DebugOut.Analog[15] = Motor_Rechts; |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| i2c_start(); |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
| CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
| Ki = (float) Parameter_I_Faktor * 0.0001; |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| { |
| int motorwert,pd_ergebnis,h,tmp_int; |
| int GierMischanteil,GasMischanteil; |
| static long SummeNick=0,SummeRoll=0; |
| static long sollGier = 0,tmp_long,tmp_long2; |
| static long IntegralFehlerNick = 0; |
| static long IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static unsigned int modell_fliegt = 0; |
| static int hoehenregler = 0; |
| static char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| static long ausgleichNick, ausgleichRoll; |
| Mittelwert(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = StickGas; |
| if(GasMischanteil < 0) GasMischanteil = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(!PcZugriff) |
| { |
| if(BeepModulation == 0xFFFF) |
| { |
| BeepTime = 15000; // 1.5 seconds |
| BeepModulation = 0x0C00; |
| } |
| } |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| Notlandung = 0; |
| } |
| ROT_ON; |
| if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| Notlandung = 1; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| } |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| Notlandung = 0; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| } |
| if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 80) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| unsigned char setting=1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| } |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SetNeutral(); |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| else |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| SetNeutral(); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 35-120) |
| { |
| // Starten |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 200; |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| } |
| } |
| else delay_einschalten = 0; |
| //Auf Neutralwerte setzen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 200; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || Notlandung) |
| { |
| int tmp_int; |
| static int stick_nick,stick_roll; |
| ParameterZuordnung(); |
| StickNick = (StickNick * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P) / 4; |
| StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| StickRoll = (StickRoll * 3 + PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P) / 4; |
| StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| StickGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]) > MaxStickNick) |
| MaxStickNick = abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]); else MaxStickNick--; |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > MaxStickRoll) |
| MaxStickRoll = abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); else MaxStickRoll--; |
| if(Notlandung) {MaxStickNick = 0; MaxStickRoll = 0;} |
| GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Digitale Steuerung per DubWise |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define KEY_VALUE (Parameter_UserParam1 * 4) //(Poti3 * 8) |
| if(DubWiseKeys[1]) BeepTime = 10; |
| if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
| if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
| if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
| if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
| if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
| if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
| StickNick += ExternStickNick / 8; |
| StickRoll += ExternStickRoll / 8; |
| StickGier += ExternStickGier; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Analoge Steuerung per Seriell |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ExternControl.Config & 0x01 && Parameter_UserParam1 > 128) |
| { |
| StickNick += (int) ExternControl.Nick * (int) EE_Parameter.Stick_P; |
| StickRoll += (int) ExternControl.Roll * (int) EE_Parameter.Stick_P; |
| StickGier += ExternControl.Gier; |
| ExternHoehenValue = (int) ExternControl.Hight * (int)EE_Parameter.Hoehe_Verstaerkung; |
| if(ExternControl.Gas < StickGas) StickGas = ExternControl.Gas; |
| } |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(GyroFaktor < 0) GyroFaktor = 0; |
| if(IntegralFaktor < 0) IntegralFaktor = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| else |
| { |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| else |
| { |
| if(Looping_Rechts) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| else |
| { |
| if(Looping_Oben) // Hysterese |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| else |
| { |
| if(Looping_Unten) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
| } |
| } |
| if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| } // Ende neue Funken-Werte |
| if(Looping_Roll) BeepTime = 100; |
| if(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 0.1; |
| IntegralFaktor = 0.005; |
| Looping_Roll = 0; |
| Looping_Nick = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ABGLEICH_ANZAHL 256L |
| MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| MittelIntegralRoll += IntegralRoll; |
| MittelIntegralNick2 += IntegralNick2; |
| MittelIntegralRoll2 += IntegralRoll2; |
| if(Looping_Nick || Looping_Roll) |
| { |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| ZaehlMessungen = 0; |
| LageKorrekturNick = 0; |
| LageKorrekturRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll) |
| { |
| long tmp_long, tmp_long2; |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long /= 16; |
| tmp_long2 /= 16; |
| if((MaxStickNick > 15) || (MaxStickRoll > 15)) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| #define AUSGLEICH 32 |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| { |
| static int cnt = 0; |
| static char last_n_p,last_n_n,last_r_p,last_r_n; |
| static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
| if(!Looping_Nick && !Looping_Roll) |
| { |
| MittelIntegralNick /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll /= ABGLEICH_ANZAHL; |
| IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
| IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
| IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
| #define MAX_I 0//(Poti2/10) |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
| ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
| ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
| LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| if((MaxStickNick > 15) || (MaxStickRoll > 15) || (abs(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]) > 25)) |
| { |
| LageKorrekturNick /= 2; |
| LageKorrekturNick /= 2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
| tmp_long = IntegralNick2 - IntegralNick; |
| tmp_long2 = IntegralRoll2 - IntegralRoll; |
| //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| IntegralFehlerNick = tmp_long; |
| IntegralFehlerRoll = tmp_long2; |
| Mess_IntegralNick2 -= IntegralFehlerNick; |
| Mess_IntegralRoll2 -= IntegralFehlerRoll; |
| // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
| // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
| DebugOut.Analog[17] = IntegralAccNick / 26; |
| DebugOut.Analog[18] = IntegralAccRoll / 26; |
| DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
| DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
| DebugOut.Analog[21] = MittelIntegralNick / 26; |
| DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| //DebugOut.Analog[28] = ausgleichNick; |
| DebugOut.Analog[29] = ausgleichRoll; |
| DebugOut.Analog[30] = LageKorrekturRoll * 10; |
| #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
| #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
| #define BEWEGUNGS_LIMIT 20000 |
| // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerNick > FEHLER_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick > 5000) ausgleichNick = 5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_p = 1; |
| } else last_n_p = 0; |
| if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick < -5000) ausgleichNick = -5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_n = 1; |
| } else last_n_n = 0; |
| } else cnt = 0; |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| ausgleichRoll = 0; |
| if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_p = 1; |
| } else last_r_p = 0; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_n = 1; |
| } else last_r_n = 0; |
| } else |
| { |
| cnt = 0; |
| } |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
| DebugOut.Analog[27] = ausgleichRoll; |
| DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
| DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| } |
| else |
| { |
| LageKorrekturRoll = 0; |
| LageKorrekturNick = 0; |
| } |
| if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick_Alt = MittelIntegralNick; |
| MittelIntegralRoll_Alt = MittelIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| IntegralAccZ = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| ZaehlMessungen = 0; |
| } |
| //DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickGier) > 20) // war 35 |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| } |
| tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(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) |
| { |
| if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| if(SignalSchlecht) SignalSchlecht--; |
| } |
| else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 24; |
| DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[2] = Mittelwert_AccNick; |
| DebugOut.Analog[3] = Mittelwert_AccRoll; |
| DebugOut.Analog[4] = MesswertGier; |
| DebugOut.Analog[5] = HoehenWert; |
| DebugOut.Analog[6] =(Mess_Integral_Hoch / 512); |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = SenderOkay; |
| DebugOut.Analog[16] = Mittelwert_AccHoch; |
| /* DebugOut.Analog[16] = motor_rx[0]; |
| DebugOut.Analog[17] = motor_rx[1]; |
| DebugOut.Analog[18] = motor_rx[2]; |
| DebugOut.Analog[19] = motor_rx[3]; |
| DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
| DebugOut.Analog[20] /= 14; |
| DebugOut.Analog[21] = motor_rx[4]; |
| DebugOut.Analog[22] = motor_rx[5]; |
| DebugOut.Analog[23] = motor_rx[6]; |
| DebugOut.Analog[24] = motor_rx[7]; |
| DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
| */ |
| // DebugOut.Analog[9] = MesswertNick; |
| // DebugOut.Analog[9] = SollHoehe; |
| // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| // DebugOut.Analog[11] = KompassStartwert; |
| // DebugOut.Analog[10] = Parameter_Gyro_I; |
| // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| // DebugOut.Analog[9] = KompassRichtung; |
| // DebugOut.Analog[10] = GasMischanteil; |
| // DebugOut.Analog[3] = HoeheD * 32; |
| // DebugOut.Analog[4] = hoehenregler; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //DebugOut.Analog[26] = MesswertNick; |
| //DebugOut.Analog[28] = MesswertRoll; |
| 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 * (2 * GyroFaktor) + Integral_Gier * IntegralFaktor / 2; |
| DebugOut.Analog[25] = IntegralRoll * IntegralFaktor; |
| DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor); |
| DebugOut.Analog[28] = MesswertRoll; |
| // Maximalwerte abfangen |
| #define MAX_SENSOR 2048 |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //OCR0B = 180 - (Poti1 + 120) / 4; |
| //DruckOffsetSetting = OCR0B; |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| { |
| int tmp_int; |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { |
| if(Parameter_MaxHoehe < 50) |
| { |
| SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| HoehenReglerAktiv = 0; |
| } |
| else |
| HoehenReglerAktiv = 1; |
| } |
| else |
| { |
| SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
| HoehenReglerAktiv = 1; |
| } |
| if(Notlandung) SollHoehe = 0; |
| h = HoehenWert; |
| if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| h = GasMischanteil - h; // vom Gas abziehen |
| h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| if(tmp_int > 50) tmp_int = 50; |
| else if(tmp_int < -50) tmp_int = -50; |
| h -= tmp_int; |
| hoehenregler = (hoehenregler*15 + h) / 16; |
| if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| { |
| if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| } |
| if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| GasMischanteil = hoehenregler; |
| } |
| } |
| if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = GasMischanteil; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MUL_G 1.0 |
| GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| // GierMischanteil = 0; |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil)); |
| if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil)); |
| if(GasMischanteil < 20) GierMischanteil = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - (StickNick - GPS_Nick); // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > 16000) SummeNick = 16000; |
| if(SummeNick < -16000) SummeNick = -16000; |
| pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| // Motor Vorn |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Vorne = motorwert; |
| // Motor Heck |
| motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Hinten = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = MesswertRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > 16000) SummeRoll = 16000; |
| if(SummeRoll < -16000) SummeRoll = -16000; |
| pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| // Motor Links |
| motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| #define GRENZE Poti1 |
| 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/V0.68d Code Redesign killagreg/fc.h |
|---|
| 0,0 → 1,144 |
| /*####################################################################################### |
| 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 IntegralAccNick,IntegralAccRoll; |
| 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 long Umschlag180Nick, Umschlag180Roll; |
| extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| extern void DefaultKonstanten(void); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Integral_Gier; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Gier; |
| extern volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| extern unsigned char MotorWert[5]; |
| extern volatile unsigned char SenderOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern void DefaultKonstanten1(void); |
| extern void DefaultKonstanten2(void); |
| #define STRUCT_PARAM_LAENGE 71 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
| unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
| unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
| unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
| unsigned char Driftkomp; |
| unsigned char DynamicStability; |
| unsigned char UserParam5; // Wert : 0-250 |
| unsigned char UserParam6; // Wert : 0-250 |
| unsigned char UserParam7; // Wert : 0-250 |
| unsigned char UserParam8; // Wert : 0-250 |
| //------------------------------------------------ |
| unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[4]; |
| char Name[12]; |
| }; |
| /* |
| unsigned char ServoNickMax; // Wert : 0-250 |
| unsigned char ServoNickRefresh; // |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| //------------------------------------------------ |
| unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[4]; |
| char Name[12]; |
| */ |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsGegenKopplung1; |
| #endif //_FC_H |
| /branches/V0.68d Code Redesign killagreg/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="eeprom.c"></File><File path="spi.h"></File><File path="spi.c"></File></Project> |
| /branches/V0.68d Code Redesign killagreg/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/V0.68d Code Redesign killagreg/gps.h |
|---|
| 0,0 → 1,14 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| void GPS_Neutral(void); |
| void GPS_BerechneZielrichtung(void); |
| /branches/V0.68d Code Redesign killagreg/main.c |
|---|
| 0,0 → 1,256 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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 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; |
| // disable interrupts global |
| cli(); |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // make delay |
| if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
| DDRC = 0x81; // SCL & Speaker |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| BeepTime = 2000; |
| PPM_in[K_GAS] = 0; |
| StickGier = 0; |
| StickRoll = 0; |
| StickNick = 0; |
| ROT_OFF; |
| TIMER0_Init(); |
| TIMER2_Init(); |
| USART0_Init(); |
| USART1_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| //SPI_MasterInit(); |
| // enable interrupts global |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a'); |
| printf("\n\r=============================="); |
| GRN_ON; |
| #define EE_DATENREVISION 69 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); // Kamera |
| if(i==3) DefaultKonstanten3(); // Beginner |
| if(i>3) DefaultKonstanten2(); // Kamera |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
| } |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| printf("\n\rACC nicht abgeglichen!"); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| 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; |
| ExternControl.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| I2CTimeout = 5000; |
| while (1) |
| { |
| if(UpdateMotor) // ReglerIntervall |
| { |
| SPI_TransmitByte(); //# |
| UpdateMotor=0; |
| //PORTD |= 0x08; |
| MotorRegler(); |
| //PORTD &= ~0x08; |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| DubWiseKeys[0] = 0; |
| DubWiseKeys[1] = 0; |
| ExternControl.Config = 0; |
| ExternStickNick = 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| } |
| if(SenderOkay) SenderOkay--; |
| if(!I2CTimeout) |
| { |
| I2CTimeout = 5; |
| i2c_reset(); |
| if((BeepModulation == 0xFFFF) && MotorenEin) |
| { |
| BeepTime = 10000; // 1 second |
| BeepModulation = 0x0080; |
| } |
| } |
| else |
| { |
| I2CTimeout--; |
| ROT_OFF; |
| } |
| if(SIO_DEBUG && !UpdateMotor) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer)) |
| { |
| if(UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| if(BeepModulation == 0xFFFF) |
| { |
| BeepTime = 6000; // 0.6 seconds |
| BeepModulation = 0x0300; |
| } |
| } |
| SPI_StartTransmitPacket();//# |
| timer = SetDelay(100); |
| } |
| //if(UpdateMotor) DebugOut.Analog[26]++; |
| } |
| } |
| return (1); |
| } |
| /branches/V0.68d Code Redesign killagreg/main.h |
|---|
| 0,0 → 1,110 |
| #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 |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
| #define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;} |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTB ^= 0x02 |
| #define F_CPU SYSCLK |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_LAST_OFFSET 3 |
| #define EEPROM_ADR_ACC_NICK 4 |
| #define EEPROM_ADR_ACC_ROLL 6 |
| #define EEPROM_ADR_ACC_Z 8 |
| #define 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_ACHSENKOPPLUNG_AKTIV 0x40 |
| #define CFG_DREHRATEN_BEGRENZER 0x80 |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_Settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "timer2.h" |
| #include "uart.h" |
| #include "uart1.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "spi.h" |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/V0.68d Code Redesign killagreg/makefile |
|---|
| 0,0 → 1,423 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644p |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 68 |
| VERSION_INDEX = 3 |
| VERSION_KOMPATIBEL = 7 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(MCU), atmega644p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA644p |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| ifeq ($(VERSION_INDEX), 0) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)a |
| endif |
| ifeq ($(VERSION_INDEX), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)b |
| endif |
| ifeq ($(VERSION_INDEX), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)c |
| endif |
| ifeq ($(VERSION_INDEX), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)d |
| endif |
| ifeq ($(VERSION_INDEX), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)e |
| endif |
| ifeq ($(VERSION_INDEX), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)f |
| endif |
| ifeq ($(VERSION_INDEX), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)g |
| endif |
| ifeq ($(VERSION_INDEX), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)h |
| endif |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c timer2.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c spi.c |
| SRC += mymath.c ubx.c fifo.c uart1.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) -DVERSION_INDEX=$(VERSION_INDEX) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = stk200 |
| #AVRDUDE_PROGRAMMER = ponyser |
| AVRDUDE_PROGRAMMER = avrispv2 |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| #AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| AVRDUDE_PORT = usb # programmer connected to USB |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| #avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/V0.68d Code Redesign killagreg/menu.c |
|---|
| 0,0 → 1,133 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + 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(); RemotePollDisplayLine = -1; } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); RemotePollDisplayLine = -1;} |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"+ MikroKopter +"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a'); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i K8:%4i ",PPM_in[7],PPM_in[8]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| if(PlatinenVersion == 10) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueGyrNick - AdNeutralNick, AdNeutralNick/2); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier/2); |
| } |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdValueAccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Poti1: %3i",Poti1); |
| LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
| LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
| LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| case 11: |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick,ExternControl.Roll); |
| LCD_printfxy(0,2,"Gs:%4i Gi:%4i ",ExternControl.Gas,ExternControl.Gier); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Hight,ExternControl.Config); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/V0.68d Code Redesign killagreg/menu.h |
|---|
| 0,0 → 1,6 |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| extern unsigned char RemoteTasten; |
| /branches/V0.68d Code Redesign killagreg/old_macros.h |
|---|
| 0,0 → 1,47 |
| /* |
| For backwards compatibility only. |
| Ingo Busker ingo@mikrocontroller.com |
| */ |
| #ifndef cbi |
| #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) |
| #endif |
| #ifndef sbi |
| #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) |
| #endif |
| #ifndef inb |
| #define inb(sfr) _SFR_BYTE(sfr) |
| #endif |
| #ifndef outb |
| #define outb(sfr, val) (_SFR_BYTE(sfr) = (val)) |
| #endif |
| #ifndef inw |
| #define inw(sfr) _SFR_WORD(sfr) |
| #endif |
| #ifndef outw |
| #define outw(sfr, val) (_SFR_WORD(sfr) = (val)) |
| #endif |
| #ifndef outp |
| #define outp(val, sfr) outb(sfr, val) |
| #endif |
| #ifndef inp |
| #define inp(sfr) inb(sfr) |
| #endif |
| #ifndef BV |
| #define BV(bit) _BV(bit) |
| #endif |
| #ifndef PRG_RDB |
| #define PRG_RDB pgm_read_byte |
| #endif |
| /branches/V0.68d Code Redesign killagreg/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/V0.68d Code Redesign killagreg/printf_P.h |
|---|
| 0,0 → 1,19 |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| #define printf_P(format, args...) _printf_P(OUT_V24,format , ## args) |
| #define printf(format, args...) _printf_P(OUT_V24,PSTR(format) , ## args) |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(OUT_LCD,PSTR(format) , ## args);} |
| #endif |
| /branches/V0.68d Code Redesign killagreg/rc.c |
|---|
| 0,0 → 1,86 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[11]; |
| volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| // tmp = (7 * (PPM_in[index]) + signal) / 8; |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| 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/V0.68d Code Redesign killagreg/rc.h |
|---|
| 0,0 → 1,36 |
| /*####################################################################################### |
| 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 |
| #if defined (__AVR_ATmega644P__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[11]; |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/V0.68d Code Redesign killagreg/spi.c |
|---|
| 0,0 → 1,113 |
| // ######################## SPI - FlightCtrl ################### |
| #include "main.h" |
| struct str_ToNaviCtrl ToNaviCtrl; |
| struct str_FromNaviCtrl FromNaviCtrl; |
| unsigned char SPI_BufferIndex; |
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl; |
| unsigned char SPITransferCompleted, SPI_ChkSum; |
| #ifdef USE_SPI_COMMUNICATION |
| //------------------------------------------------------ |
| void SPI_MasterInit(void) |
| { |
| DDR_SPI |= (1<<DD_MOSI)|(1<<DD_SCK); // Set MOSI and SCK output, all others input |
| SLAVE_SELECT_DDR_PORT |= (1 << SPI_SLAVE_SELECT); |
| SPCR = (1<<SPE)|(1<<MSTR)|(1<<SPR1)|(0<<SPIE); // Enable SPI, Master, set clock rate fck/64 |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); |
| SPITransferCompleted = 1; |
| ToNaviCtrl.Sync1 = 0x81; |
| ToNaviCtrl.Sync2 = 0x55; |
| ToNaviCtrl.Comp = 12; |
| ToNaviCtrl.IntegralNick = 12345; |
| ToNaviCtrl.IntegralRoll = 56789; |
| ToNaviCtrl.StickNick = 100; |
| ToNaviCtrl.StickRoll = 150;//(char) StickRoll; |
| ToNaviCtrl.StickGier = 200;//(char) StickGier; |
| } |
| //------------------------------------------------------ |
| void SPI_StartTransmitPacket(void) |
| { |
| //if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
| if (!SPITransferCompleted) return; |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| SPITransferCompleted = 0; |
| UpdateSPI_Buffer(); // update buffer |
| SPI_BufferIndex = 1; |
| DebugOut.Analog[16]++; |
| // -- Debug-Output --- |
| /* DebugOut.Analog[20] = FromNaviCtrl.Comp; |
| DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick; |
| DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll; |
| DebugOut.Analog[23] = FromNaviCtrl.CompassValue; |
| */ |
| //---- |
| SPDR = ToNaviCtrl.Sync1; // Start transmission |
| ToNaviCtrl.ChkSum = ToNaviCtrl.Sync1; |
| } |
| //------------------------------------------------------ |
| //SIGNAL(SIG_SPI) |
| void SPI_TransmitByte(void) |
| { |
| if (!(SPSR & (1 << SPIF))) return; |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
| { |
| SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
| // if (SPI_BufferIndex < 32 ) DebugOut.Analog[26+SPI_BufferIndex] = SPI_Buffer[SPI_BufferIndex]; |
| //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
| } |
| if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| { |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); asm volatile ("nop"); |
| SPDR = Ptr_buffer[SPI_BufferIndex]; |
| ToNaviCtrl.ChkSum += Ptr_buffer[SPI_BufferIndex]; |
| } |
| else |
| { |
| unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| SPITransferCompleted = 1; |
| memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| } |
| SPI_BufferIndex++; |
| } |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| { |
| /*static unsigned char i =0; |
| cli(); |
| ToNaviCtrl.Comp = SPI_PROTOCOL_COMP; |
| ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4); |
| ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4); |
| ToNaviCtrl.StickNick = 4; |
| ToNaviCtrl.StickRoll = 5;//(char) StickRoll; |
| ToNaviCtrl.StickGier = 6;//(char) StickGier; |
| sei(); |
| */ |
| } |
| #endif |
| /branches/V0.68d Code Redesign killagreg/spi.h |
|---|
| 0,0 → 1,89 |
| // ######################## SPI - FlightCtrl ################### |
| #ifndef _SPI_H |
| #define _SPI_H |
| //#define USE_SPI_COMMUNICATION |
| #define SPI_PROTOCOL_COMP 1 |
| //----------------------------------------- |
| #define DDR_SPI DDRB |
| #define DD_SS PB4 |
| #define DD_SCK PB7 |
| #define DD_MOSI PB5 |
| #define DD_MISO PB6 |
| // for compatibility reasons gcc3.x <-> gcc4.x |
| #ifndef SPCR |
| #define SPCR SPCR0 |
| #endif |
| #ifndef SPE |
| #define SPE SPE0 |
| #endif |
| #ifndef MSTR |
| #define MSTR MSTR0 |
| #endif |
| #ifndef SPR1 |
| #define SPR1 SPR01 |
| #endif |
| #ifndef SPR0 |
| #define SPR0 SPR00 |
| #endif |
| #ifndef SPIE |
| #define SPIE SPIE0 |
| #endif |
| #ifndef SPDR |
| #define SPDR SPDR0 |
| #endif |
| #ifndef SPIF |
| #define SPIF SPIF0 |
| #endif |
| #ifndef SPSR |
| #define SPSR SPSR0 |
| #endif |
| // ------------------------- |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| #define SLAVE_SELECT_PORT PORTC |
| #define SPI_SLAVE_SELECT PC5 |
| struct str_ToNaviCtrl |
| { |
| unsigned char Sync1, Sync2; |
| unsigned char Comp; |
| int IntegralNick; |
| int IntegralRoll; |
| char StickNick,StickRoll,StickGier; |
| unsigned char ChkSum; |
| }; |
| struct str_FromNaviCtrl |
| { |
| unsigned int Dummy; |
| unsigned char Comp; |
| int GPS_Nick; |
| int GPS_Roll; |
| int CompassValue; |
| }; |
| #ifdef USE_SPI_COMMUNICATION |
| extern struct str_ToNaviCtrl ToNaviCtrl; |
| extern struct str_FromNaviCtrl FromNaviCtrl; |
| extern void SPI_MasterInit(void); |
| extern void SPI_StartTransmitPacket(void); |
| extern void UpdateSPI_Buffer(void); |
| extern void SPI_TransmitByte(void); |
| #else |
| // -------------------------------- Dummy ----------------------------------------- |
| #define SPI_MasterInit() ; |
| #define SPI_StartTransmitPacket() ; |
| #define UpdateSPI_Buffer() ; |
| #define SPI_TransmitByte() ; |
| #endif |
| #endif |
| /branches/V0.68d Code Redesign killagreg/timer0.c |
|---|
| 0,0 → 1,159 |
| #include "main.h" |
| volatile uint16_t CountMilliseconds = 0; |
| volatile uint8_t UpdateMotor = 0; |
| volatile uint16_t cntKompass = 0; |
| volatile uint16_t BeepTime = 0; |
| uint16_t BeepModulation = 0xFFFF; |
| /*****************************************************/ |
| /* Initialize Timer 0 */ |
| /*****************************************************/ |
| // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
| // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
| void TIMER0_Init(void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| // set PB3 and PB4 as output for the PWM |
| DDRB |= (1<<DDB4)|(1<<DDB3); |
| PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
| // Timer/Counter 0 Control Register A |
| // Waveform Generation Mode is Fast PWM (Bits WGM02 = 0, WGM01 = 1, WGM00 = 1) |
| // Clear OC0A on Compare Match, set OC0A at BOTTOM, noninverting PWM (Bits COM0A1 = 1, COM0A0 = 0) |
| // Clear OC0B on Compare Match, set OC0B at BOTTOM, (Bits COM0B1 = 1, COM0B0 = 0) |
| TCCR0A &= ~((1<<COM0A0)|(1<<COM0B0)); |
| TCCR0A |= (1<<COM0A1)|(1<<COM0B1)|(1<<WGM01)|(1<<WGM00); |
| // Timer/Counter 0 Control Register B |
| // set clock devider for timer 0 to SYSKLOCK/8 = 20MHz / 8 = 2.5MHz |
| // i.e. the timer increments from 0x00 to 0xFF with an update rate of 2.5 MHz |
| // hence the timer overflow interrupt frequency is 2.5 MHz / 256 = 9.765 kHz |
| // divider 8 (Bits CS02 = 0, CS01 = 1, CS00 = 0) |
| TCCR0B &= ~((1<<FOC0A)|(1<<FOC0B)|(1<<WGM02)); |
| TCCR0B = (TCCR0B & 0xF8)|(0<<CS02)|(1<<CS01)|(0<<CS00); |
| // initialize the Output Compare Register A & B used for PWM generation on port PB3 & PB4 |
| OCR0A = 0; // for PB3 |
| OCR0B = 120; // for PB4 |
| // init Timer/Counter 0 Register |
| TCNT0 = 0; |
| // Timer/Counter 0 Interrupt Mask Register |
| // enable timer overflow interrupt only |
| TIMSK0 &= ~((1<<OCIE0B)|(1<<OCIE0A)); |
| TIMSK0 |= (1<<TOIE0); |
| SREG = sreg; |
| } |
| /*****************************************************/ |
| /* Interrupt Routine of Timer 0 */ |
| /*****************************************************/ |
| ISR(TIMER0_OVF_vect) // 9.765 kHz |
| { |
| static uint8_t cnt_1ms = 1,cnt = 0; |
| uint8_t Beeper_On = 0; |
| if(!cnt--) // every 10th run (9.765kHz/10 = 976Hz) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; // every 2nd run (976Hz/2 = 488 Hz) |
| CountMilliseconds++; // increment millisecond counter |
| } |
| // beeper on if duration is not over |
| if(BeepTime > 1) |
| { |
| BeepTime--; // decrement BeepTime |
| if(BeepTime & BeepModulation) Beeper_On = 1; |
| else Beeper_On = 0; |
| } |
| else // beeper off if duration is over |
| { |
| Beeper_On = 0; |
| BeepModulation = 0xFFFF; |
| } |
| // if beeper is on |
| if(Beeper_On) |
| { |
| // set speaker port to high |
| if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker at PD2 |
| else PORTC |= (1<<7); // Speaker at PC7 |
| } |
| else // beeper is off |
| { |
| // set speaker port to low |
| if(PlatinenVersion == 10) PORTD &= ~(1<<2);// Speaker at PD2 |
| else PORTC &= ~(1<<7);// Speaker at PC7 |
| } |
| // update compass value if this option is enabled in the settings |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| } |
| // ----------------------------------------------------------------------- |
| uint16_t SetDelay (uint16_t t) |
| { |
| // TIMSK0 &= ~(1<<TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= (1<<TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| int8_t CheckDelay(uint16_t t) |
| { |
| // TIMSK0 &= ~(1<<TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= (1<<TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(uint16_t w) |
| { |
| unsigned int t_stop; |
| t_stop = SetDelay(w); |
| while (!CheckDelay(t_stop)); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms_Mess(uint16_t w) |
| { |
| uint16_t t_stop; |
| t_stop = SetDelay(w); |
| while (!CheckDelay(t_stop)) ADC_Enable(); |
| } |
| /branches/V0.68d Code Redesign killagreg/timer0.h |
|---|
| 0,0 → 1,19 |
| #ifndef _TIMER0_H |
| #define _TIMER0_H |
| extern volatile uint16_t CountMilliseconds; |
| extern volatile uint8_t UpdateMotor; |
| extern volatile uint16_t cntKompass; |
| extern uint16_t BeepModulation; |
| extern volatile uint16_t BeepTime; |
| void TIMER0_Init(void); |
| void Delay_ms(uint16_t w); |
| void Delay_ms_Mess(uint16_t w); |
| uint16_t SetDelay (uint16_t t); |
| int8_t CheckDelay (uint16_t t); |
| #endif //_TIMER0_H |
| /branches/V0.68d Code Redesign killagreg/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/V0.68d Code Redesign killagreg/twimaster.h |
|---|
| 0,0 → 1,33 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_reset(void); |
| extern void i2c_init (void); // I2C initialisieren |
| extern char i2c_start (void); // Start I2C |
| extern void i2c_stop (void); // Stop I2C |
| extern char i2c_write_byte (char byte); // 1 Byte schreiben |
| extern void i2c_reset(void); |
| #endif |
| /branches/V0.68d Code Redesign killagreg/uart.c |
|---|
| 0,0 → 1,434 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char txd_buffer[TXD_BUFFER_LEN]; |
| unsigned volatile char rxd_buffer[RXD_BUFFER_LEN]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char RemotePollDisplayLine = 0; |
| unsigned char NurKanalAnforderung = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char DubWiseKeys[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| unsigned char ConfirmFrame; |
| struct str_DebugOut DebugOut; |
| struct str_ExternControl ExternControl; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| const unsigned char ANALOG_TEXT[32][16] = |
| { |
| //1234567890123456 |
| "IntegralNick ", //0 |
| "IntegralRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "GyroGier ", |
| "HoehenWert ", //5 |
| "AccZ ", |
| "Gas ", |
| "KompassValue ", |
| "Spannung ", |
| "Empfang ", //10 |
| "Analog11 ", |
| "Motor_Vorne ", |
| "Motor_Hinten ", |
| "Motor_Links ", |
| "Motor_Rechts ", //15 |
| "Acc_Z ", |
| "MittelAccNick ", |
| "MittelAccRoll ", |
| "IntegralErrNick ", |
| "IntegralErrRoll ", //20 |
| "MittelIntNick ", |
| "MittelIntRoll ", |
| "NeutralNick ", |
| "RollOffset ", |
| "IntRoll*Faktor ", //25 |
| "Analog26 ", |
| "DirektAusglRoll ", |
| "MesswertRoll ", |
| "AusgleichRoll ", |
| "I-LageRoll ", //30 |
| "StickRoll " |
| }; |
| /****************************************************************/ |
| /* Initialization of the USART0 */ |
| /****************************************************************/ |
| void USART0_Init (void) |
| { |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART0_BAUD) - 1); |
| // disable all interrupts before configuration |
| cli(); |
| // disable RX-Interrupt |
| UCSR0B &= ~(1 << RXCIE0); |
| // disable TX-Interrupt |
| UCSR0B &= ~(1 << TXCIE0); |
| // set direction of RXD0 and TXD0 pins |
| // set RXD0 (PD0) as an input pin |
| PORTD |= (1 << PORTD0); |
| DDRD &= ~(1 << DDD0); |
| // set TXD0 (PD1) as an output pin |
| PORTD |= (1 << PORTD1); |
| DDRD |= (1 << DDD1); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| // USART0 Control and Status Register A, B, C |
| // enable double speed operation in |
| UCSR0A |= (1 << U2X0); |
| // enable receiver and transmitter in |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| // set asynchronous mode |
| UCSR0C &= ~(1 << UMSEL01); |
| UCSR0C &= ~(1 << UMSEL00); |
| // no parity |
| UCSR0C &= ~(1 << UPM01); |
| UCSR0C &= ~(1 << UPM00); |
| // 1 stop bit |
| UCSR0C &= ~(1 << USBS0); |
| // 8-bit |
| UCSR0B &= ~(1 << UCSZ02); |
| UCSR0C |= (1 << UCSZ01); |
| UCSR0C |= (1 << UCSZ00); |
| // flush receive buffer |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| // enable interrupts at the end |
| // enable RX-Interrupt |
| UCSR0B |= (1 << RXCIE0); |
| // enable TX-Interrupt |
| UCSR0B |= (1 << TXCIE0); |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| /****************************************************************/ |
| /* USART0 transmitter ISR */ |
| /****************************************************************/ |
| ISR(USART0_TX_vect) |
| { |
| static uint16_t ptr = 0; |
| uint8_t tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = txd_buffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == TXD_BUFFER_LEN)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR0 = tmp_tx; // send byte will trigger this ISR again |
| } |
| else ptr = 0; |
| } |
| /****************************************************************/ |
| /* USART0 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART0_RX_vect) |
| { |
| static uint16_t crc; |
| static uint8_t crc1,crc2,buf_ptr; |
| static uint8_t UartState = 0; |
| uint8_t CrcOkay = 0; |
| SioTmp = UDR0; |
| if(buf_ptr >= RXD_BUFFER_LEN) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= rxd_buffer[buf_ptr-2]; |
| crc -= rxd_buffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == rxd_buffer[buf_ptr-2]) && (crc2 == rxd_buffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| rxd_buffer[buf_ptr] = '\r'; |
| if(rxd_buffer[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; |
| rxd_buffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| rxd_buffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| rxd_buffer[buf_ptr] = SioTmp; |
| if(buf_ptr < RXD_BUFFER_LEN) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| uint16_t tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR0 = txd_buffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(uint8_t cmd,uint8_t modul, uint8_t *snd, uint8_t len) |
| { |
| uint16_t pt = 0; |
| uint8_t a,b,c; |
| uint8_t ptr = 0; |
| txd_buffer[pt++] = '#'; // Startzeichen |
| txd_buffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| txd_buffer[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; |
| txd_buffer[pt++] = '=' + (a >> 2); |
| txd_buffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| txd_buffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| txd_buffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) // Wohin mit den Daten; Wie lang; Wo im rxd_buffer |
| { |
| uint8_t a,b,c,d; |
| uint8_t ptr = 0; |
| uint8_t x,y,z; |
| while(len) |
| { |
| a = rxd_buffer[ptrIn++] - '='; |
| b = rxd_buffer[ptrIn++] - '='; |
| c = rxd_buffer[ptrIn++] - '='; |
| d = rxd_buffer[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; |
| uint8_t tmp_char_arr2[2]; |
| PcZugriff = 255; |
| switch(rxd_buffer[2]) |
| { |
| case 'a':// Texte der Analogwerte |
| Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| DebugTextAnforderung = tmp_char_arr2[0]; |
| break; |
| case 'b': |
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= ExternControl.RemoteTasten; |
| ConfirmFrame = ExternControl.Frame; |
| break; |
| case 'c': |
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= ExternControl.RemoteTasten; |
| ConfirmFrame = ExternControl.Frame; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'k':// Keys von DubWise |
| Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
| ConfirmFrame = DubWiseKeys[3]; |
| 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((uint8_t *) &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], (uint8_t *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(uint8_t *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(uint8_t *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((uint8_t *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(rxd_buffer[2] - 'l' + 1, (uint8_t *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], rxd_buffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Umschlag180Nick = (int32_t) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (int32_t) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int16_t uart_putchar (int8_t c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| //Ausgabe des Zeichens |
| UDR0 = 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; |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A',DebugTextAnforderung + '0',(uint8_t *) ANALOG_TEXT[DebugTextAnforderung],16); |
| DebugTextAnforderung = 255; |
| } |
| if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz ohne CRC bestätigen |
| { |
| txd_buffer[0] = '#'; |
| txd_buffer[1] = ConfirmFrame; |
| txd_buffer[2] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| ConfirmFrame = 0; |
| UDR0 = txd_buffer[0]; |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
| { |
| SendOutData('4',0,(uint8_t *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| RemotePollDisplayLine = -1; |
| } |
| else SendOutData('0' + RemotePollDisplayLine,0,(uint8_t *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(uint8_t *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/V0.68d Code Redesign killagreg/uart.h |
|---|
| 0,0 → 1,92 |
| #ifndef _UART_H |
| #define _UART_H |
| #define TXD_BUFFER_LEN 150 |
| #define RXD_BUFFER_LEN 150 |
| #define DUB_KEY_UP 4 |
| #define DUB_KEY_DOWN 8 |
| #define DUB_KEY_RIGHT 32 |
| #define DUB_KEY_LEFT 16 |
| #define DUB_KEY_FIRE 64 |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| //Baud rate of the USART |
| #define USART0_BAUD 57600 |
| extern void USART0_Init (void); |
| extern unsigned volatile char txd_buffer[TXD_BUFFER_LEN]; |
| extern unsigned volatile char rxd_buffer[RXD_BUFFER_LEN]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern unsigned char RemotePollDisplayLine; |
| extern int Debug_Timer; |
| extern int16_t uart_putchar (int8_t c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void BearbeiteRxDaten(void); |
| extern unsigned char MotorTest[4]; |
| extern unsigned char DubWiseKeys[4]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[2]; |
| unsigned int Analog[32]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_ExternControl |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| signed char Nick; |
| signed char Roll; |
| signed char Gier; |
| unsigned char Gas; |
| signed char Hight; |
| unsigned char free; |
| unsigned char Frame; |
| unsigned char Config; |
| }; |
| extern struct str_ExternControl ExternControl; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| #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/V0.68d Code Redesign killagreg/version.txt |
|---|
| 0,0 → 1,116 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| V0.61 - V0.63 H.Buss 27.09.2007 |
| - Poti 4 und Kanal 8 werden im Menü angezeigt |
| - ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
| - Analog.c: Aktuell_ax korrigiert |
| - auf 32 Debug-Kanäle erweitert |
| - Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar |
| - leichte Anpassungen im Gier - Geschwindigkeit und Drift |
| - die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein |
| - die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird |
| - die PPM-Ausgänge liegen wieder an den Pins an |
| - Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders |
| - der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen |
| - I2C-Bus läuft jetzt sicher nach einer Störung wieder an |
| - Sticksignale werden präziser ausgewertet |
| - Stick-Kanäle werden ans Kopter-Tool übertragen |
| - Es muss die Version V1.47 des Kopter-Tool verwendet werden |
| - Die Settings werden auf Default zurückgesetzt |
| - am Piepen kann man die Fehlerart unterscheiden |
| 1. einzelnes Piepen beim Einschalten und Kalibrieren |
| 2. langsames Intervall mindestens 1 Sek -> Empfangsausfall |
| 3. schnelleres Intervall mindestens 1 Sek -> Akku |
| 4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört |
| V0.64 H.Buss 30.09.2007 |
| - beim Gieren wurden die Achsen nicht hart genug geregelt |
| V0.65a H.Buss 15.10.2007 |
| - Integral im Mischer wieder integriert |
| - Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
| - ACC/Gyro Abgleich auch bei HH |
| V0.66a H.Buss 3.11.2007 |
| - Messwertverarbeitung aus dem Analog-Interrupt entfernt |
| - Analogmessung hängt jetzt am FC-Timing |
| - Looping-Stick-Hysterese eingebaut |
| - Looping-180°-Umschlag einstellbar |
| - Achsenkopplung: Gierbewegung verkoppelt Nick und Roll |
| - Lageregelung nach ACC-Sensor verbessert |
| - zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage |
| - Gyrodriftkompensation überarbeitet |
| - Bug in der Gier-Stick-Berechnung behoben |
| - Gyro-Messung auf 1kHz beschleunigt |
| V0.67a H.Buss 16.11.2007 |
| - der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode) |
| - Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus |
| - Feinabstimmung |
| - Beim HH-Modus gab es noch Bugs |
| V0.67e H.Buss 29.11.2007 |
| - Parameter: Dynamic Stability und Driftfaktor eingeführt |
| - Die Namen der Analogwerte werden jetzt zum Koptertool übertragen |
| - Kompatibilität zum Koptertool erhöht |
| V0.67f H.Buss 04.12.2007 |
| - Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional |
| - Schub für Gier wird jetzt auf den Gaswert begrenzt, dadurch steigt der MK nicht mehr beim Gieren. Gier ist allerdings nicht mehr so agressiv |
| - Die ACC-Nullwerte können jetzt dauerhaft im EEPROM gespeichert werden (Stick:Vollgas und Gier rechts) |
| V0.68a I.Busker 28.12.2007 |
| - SPI.c & SPI.h ins Projekt aufgenommen |
| SPI-Kommuikation kann in SPI.h aktiviert/deaktivert werden |
| V0.68c H.Buss 05.01.2008 |
| - Stickauswertung verbessert -> träger und präziser |
| - Alle Settings angepasst |