| /branches/V0.68d CRK HexaLotte/FlightCtrl.aps |
|---|
| 0,0 → 1,0 |
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| /branches/V0.68d CRK HexaLotte/GPS.c |
|---|
| 0,0 → 1,381 |
| #include <inttypes.h> |
| #include <stdlib.h> |
| #include "fc.h" |
| #include "ubx.h" |
| #include "mymath.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| #define TSK_IDLE 0 |
| #define TSK_HOLD 1 |
| #define TSK_HOME 2 |
| #define GPS_STICK_SENSE 15 // must be at least in a range where 90% of the trimming does not switch of the GPS function |
| #define GPS_STICK_LIMIT 35 // limit of gps stick control to avoid critical flight attitudes |
| #define GPS_POSDEV_INTEGRAL_LIMIT 32000 // limit for the position error integral |
| #define MAX_VELOCITY 700 // max ground speed in cm/s during position control |
| int16_t GPS_Pitch = 0, GPS_Roll = 0; |
| uint8_t GPS_P_Factor = 0, GPS_I_Factor = 0, GPS_D_Factor = 0; |
| typedef struct |
| { |
| int32_t Longitude; |
| int32_t Latitude; |
| int32_t Altitude; |
| uint8_t Status; |
| } GPS_Pos_t; |
| // GPS coordinates for hold position |
| GPS_Pos_t HoldPosition = {0,0,0,INVALID}; |
| // GPS coordinates for home position |
| GPS_Pos_t HomePosition = {0,0,0,INVALID}; |
| // --------------------------------------------------------------------------------- |
| // checks pitch and roll sticks for manual control |
| uint8_t IsManualControlled(void) |
| { |
| if ( (abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) < GPS_STICK_SENSE) && (abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) < GPS_STICK_SENSE)) return 0; |
| else return 1; |
| } |
| // set home position to current positon |
| void GPS_SetHomePosition(void) |
| { |
| if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
| { |
| HomePosition.Longitude = GPSInfo.longitude; |
| HomePosition.Latitude = GPSInfo.latitude; |
| HomePosition.Altitude = GPSInfo.altitude; |
| HomePosition.Status = VALID; |
| BeepTime = 1000; // signal if new home position was set |
| } |
| else |
| { |
| HomePosition.Status = INVALID; |
| } |
| } |
| // set hold position to current positon |
| void GPS_SetHoldPosition(void) |
| { |
| if( ((GPSInfo.status == VALID) || (GPSInfo.status == PROCESSED)) && GPSInfo.satfix == SATFIX_3D) |
| { |
| HoldPosition.Longitude = GPSInfo.longitude; |
| HoldPosition.Latitude = GPSInfo.latitude; |
| HoldPosition.Altitude = GPSInfo.altitude; |
| HoldPosition.Status = VALID; |
| } |
| else |
| { |
| HoldPosition.Status = INVALID; |
| } |
| } |
| // clear home position |
| void GPS_ClearHomePosition(void) |
| { |
| HomePosition.Status = INVALID; |
| } |
| // disable GPS control sticks |
| void GPS_Neutral(void) |
| { |
| GPS_Pitch = 0; |
| GPS_Roll = 0; |
| } |
| // calculates the GPS control stick values from the deviation to target position |
| // if the pointer to the target positin is NULL or is the target position invalid |
| // then the P part of the controller is deactivated. |
| void GPS_PIDController(GPS_Pos_t *pTargetPos) |
| { |
| int32_t temp, temp1, PID_Pitch, PID_Roll; |
| int32_t coscompass, sincompass; |
| int32_t GPSPosDev_North, GPSPosDev_East; // Position deviation in cm |
| int32_t P_North = 0, D_North = 0, P_East = 0, D_East = 0, I_North = 0, I_East = 0; |
| int32_t PID_North = 0, PID_East = 0; |
| static int32_t cos_target_latitude = 1; |
| static int32_t GPSPosDevIntegral_North = 0, GPSPosDevIntegral_East = 0; |
| static GPS_Pos_t *pLastTargetPos = 0; |
| // if GPS data and Compass are ok |
| if((GPSInfo.status == VALID) && (GPSInfo.satfix == SATFIX_3D) && (CompassHeading >= 0) ) |
| { |
| if(pTargetPos != NULL) // if there is a target position |
| { |
| if(pTargetPos->Status != INVALID) // and the position data are valid |
| { |
| // if the target data are updated or the target pointer has changed |
| if ((pTargetPos->Status != PROCESSED) || (pTargetPos != pLastTargetPos) ) |
| { |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| // recalculate latitude projection |
| cos_target_latitude = (int32_t)c_cos_8192((int16_t)(pTargetPos->Latitude/10000000L)); |
| // remember last target pointer |
| pLastTargetPos = pTargetPos; |
| // mark data as processed |
| pTargetPos->Status = PROCESSED; |
| } |
| // calculate position deviation from latitude and longitude differences |
| GPSPosDev_North = (GPSInfo.latitude - pTargetPos->Latitude); // to calculate real cm we would need *111/100 additionally |
| GPSPosDev_East = (GPSInfo.longitude - pTargetPos->Longitude); // to calculate real cm we would need *111/100 additionally |
| // calculate latitude projection |
| GPSPosDev_East *= cos_target_latitude; |
| GPSPosDev_East /= 8192; |
| //DebugOut.Analog[12] = GPSPosDev_North; |
| //DebugOut.Analog[13] = GPSPosDev_East; |
| //DebugOut.Analog[12] = GPSInfo.velnorth; |
| //DebugOut.Analog[13] = GPSInfo.veleast; |
| } |
| else // no valid target position available |
| { |
| // reset error |
| GPSPosDev_North = 0; |
| GPSPosDev_East = 0; |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| } |
| } |
| else // no target position available |
| { |
| // reset error |
| GPSPosDev_North = 0; |
| GPSPosDev_East = 0; |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| } |
| //Calculate PID-components of the controller (negative sign for compensation) |
| // P-Part |
| P_North = -((int32_t)GPS_P_Factor * GPSPosDev_North)/2048; |
| P_East = -((int32_t)GPS_P_Factor * GPSPosDev_East)/2048; |
| // I-Part |
| I_North = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_North)/8192; |
| I_East = -((int32_t)GPS_I_Factor * GPSPosDevIntegral_East)/8192; |
| // combine P- & I-Part |
| PID_North = P_North + I_North; |
| PID_East = P_East + I_East; |
| //limit PI-Part to limit the max velocity |
| temp1 = ((int32_t)GPS_D_Factor * MAX_VELOCITY)/512; // the PI-Part limit |
| temp = (int32_t)c_sqrt(PID_North*PID_North + PID_East*PID_East); // the current PI-Part |
| if(temp > temp1) // P-Part limit is reached |
| { |
| // normalize P-part components to the P-Part limit |
| PID_North = (PID_North * temp1)/temp; |
| PID_East = (PID_East * temp1) /temp; |
| } |
| else // PI-Part under its limit |
| { |
| // update position error integrals |
| GPSPosDevIntegral_North += GPSPosDev_North/16; |
| if( GPSPosDevIntegral_North > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = GPS_POSDEV_INTEGRAL_LIMIT; |
| else if (GPSPosDevIntegral_North < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_North = -GPS_POSDEV_INTEGRAL_LIMIT; |
| GPSPosDevIntegral_East += GPSPosDev_East/16; |
| if( GPSPosDevIntegral_East > GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = GPS_POSDEV_INTEGRAL_LIMIT; |
| else if (GPSPosDevIntegral_East < -GPS_POSDEV_INTEGRAL_LIMIT) GPSPosDevIntegral_East = -GPS_POSDEV_INTEGRAL_LIMIT; |
| } |
| // D-Part |
| D_North = -((int32_t)GPS_D_Factor * GPSInfo.velnorth)/512; |
| D_East = -((int32_t)GPS_D_Factor * GPSInfo.veleast)/512; |
| // combine PI- and D-Part |
| PID_North += D_North; |
| PID_East += D_East; |
| // GPS to pitch and roll settings |
| // A positive pitch angle moves head downwards (flying forward). |
| // A positive roll angle tilts left side downwards (flying left). |
| // If compass heading is 0 the head of the copter is in north direction. |
| // A positive pitch angle will fly to north and a positive roll angle will fly to west. |
| // In case of a positive north deviation/velocity the |
| // copter should fly to south (negative pitch). |
| // In case of a positive east position deviation and a positive east velocity the |
| // copter should fly to west (positive roll). |
| // The influence of the GPS_Pitch and GPS_Roll variable is contrarily to the stick values |
| // in the fc.c. Therefore a positive north deviation/velocity should result in a positive |
| // GPS_Pitch and a positive east deviation/velocity should result in a negative GPS_Roll. |
| coscompass = (int32_t)c_cos_8192(CompassHeading); |
| sincompass = (int32_t)c_sin_8192(CompassHeading); |
| PID_Roll = (coscompass * PID_East - sincompass * PID_North) / 8192; |
| PID_Pitch = -1*((sincompass * PID_East + coscompass * PID_North) / 8192); |
| // limit resulting GPS control vector |
| temp = (int32_t)c_sqrt(PID_Roll*PID_Roll + PID_Pitch*PID_Pitch); |
| if (temp > GPS_STICK_LIMIT) |
| { |
| // normalize control vector components to the limit |
| PID_Roll = (PID_Roll * GPS_STICK_LIMIT)/temp; |
| PID_Pitch = (PID_Pitch * GPS_STICK_LIMIT)/temp; |
| } |
| GPS_Roll = (int16_t)PID_Roll; |
| GPS_Pitch = (int16_t)PID_Pitch; |
| } |
| else // invalid GPS data or bad compass reading |
| { |
| GPS_Neutral(); // do nothing |
| // reset error integral |
| GPSPosDevIntegral_North = 0; |
| GPSPosDevIntegral_East = 0; |
| } |
| } |
| void GPS_Main(uint8_t ctrl) |
| { |
| static uint8_t GPS_Task = TSK_IDLE; |
| static uint8_t GPS_P_Delay = 0; |
| int16_t satbeep; |
| // ctrl enables the gps feature |
| if(ctrl < 70) GPS_Task = TSK_IDLE; |
| else if (ctrl < 160) GPS_Task = TSK_HOLD; |
| else GPS_Task = TSK_HOME; // ctrl >= 160 |
| switch(GPSInfo.status) |
| { |
| case INVALID: // invalid gps data |
| GPS_Neutral(); |
| if(GPS_Task != TSK_IDLE) |
| { |
| BeepTime = 100; // beep if signal is neccesary |
| } |
| break; |
| case PROCESSED: // if gps data are already processed do nothing |
| // downcount timeout |
| if(GPSTimeout) GPSTimeout--; |
| // if no new data arrived within timeout set current data invalid |
| // and therefore disable GPS |
| else |
| { |
| GPS_Neutral(); |
| GPSInfo.status = INVALID; |
| } |
| break; |
| case VALID: // new valid data from gps device |
| // if the gps data quality is good |
| if (GPSInfo.satfix == SATFIX_3D) |
| { |
| switch(GPS_Task) // check what's to do |
| { |
| case TSK_IDLE: |
| // update hold position to current gps position |
| GPS_SetHoldPosition(); // can get invalid if gps signal is bad |
| // disable gps control |
| GPS_Neutral(); |
| break; // eof TSK_IDLE |
| case TSK_HOLD: |
| if(HoldPosition.Status != INVALID) |
| { |
| if( IsManualControlled() ) // MK controlled by user |
| { |
| // update hold point to current gps position |
| GPS_SetHoldPosition(); |
| // disable gps control |
| GPS_Neutral(); |
| GPS_P_Delay = 0; |
| } |
| else // GPS control active |
| { |
| if(GPS_P_Delay<7) |
| { // delayed activation of P-Part for 8 cycles (8*0.25s = 2s) |
| GPS_P_Delay++; |
| GPS_SetHoldPosition(); // update hold point to current gps position |
| GPS_PIDController(NULL); // activates only the D-Part |
| } |
| else GPS_PIDController(&HoldPosition);// activates the P&D-Part |
| } |
| } |
| else // invalid Hold Position |
| { // try to catch a valid hold position from gps data input |
| GPS_SetHoldPosition(); |
| GPS_Neutral(); |
| } |
| break; // eof TSK_HOLD |
| case TSK_HOME: |
| if(HomePosition.Status != INVALID) |
| { |
| // update hold point to current gps position |
| // to avoid a flight back if home comming is deactivated |
| GPS_SetHoldPosition(); |
| if( IsManualControlled() ) // MK controlled by user |
| { |
| GPS_Neutral(); |
| } |
| else // GPS control active |
| { |
| GPS_PIDController(&HomePosition); |
| } |
| } |
| else // bad home position |
| { |
| BeepTime = 50; // signal invalid home position |
| // try to hold at least the position as a fallback option |
| if (HoldPosition.Status != INVALID) |
| { |
| if( IsManualControlled() ) // MK controlled by user |
| { |
| GPS_Neutral(); |
| } |
| else // GPS control active |
| { |
| GPS_PIDController(&HoldPosition); |
| } |
| } |
| else |
| { // try to catch a valid hold position |
| GPS_SetHoldPosition(); |
| GPS_Neutral(); |
| } |
| } |
| break; // eof TSK_HOME |
| default: // unhandled task |
| GPS_Neutral(); |
| break; // eof default |
| } // eof switch GPS_Task |
| } // eof 3D-FIX |
| else // no 3D-SATFIX |
| { // disable gps control |
| GPS_Neutral(); |
| if(GPS_Task != TSK_IDLE) |
| { |
| satbeep = 1600 - (int16_t)GPSInfo.satnum * 200; // is zero at 8 sats |
| if (satbeep < 0) satbeep = 0; |
| BeepTime = 50 + (uint16_t)satbeep; // max 1650 * 0.1 ms = |
| } |
| } |
| // set current data as processed to avoid further calculations on the same gps data |
| GPSInfo.status = PROCESSED; |
| break; |
| } // eof GPSInfo.status |
| //DebugOut.Analog[14] = GPS_Pitch; |
| //DebugOut.Analog[15] = GPS_Roll; |
| } |
| /branches/V0.68d CRK HexaLotte/Hex-Files/BootLoader_MEGA644_20MHZ_V0_1.hex |
|---|
| 0,0 → 1,64 |
| :10F8000011241FBECFEFD0E1DEBFCDBF11E0A0E0DD |
| :10F81000B1E0E0EEFBEF02C005900D92A030B10721 |
| :10F82000D9F712E0A0E0B1E001C01D92A230B1070B |
| :10F83000E1F70C943B7C0C941D7C0895982F8091EB |
| :10F84000C00085FFFCCF9093C60008958091C00052 |
| :10F850008823E4F78091C600992708958DE40E94DB |
| :10F860001E7C8BE40E941E7C82E40E941E7C8CE441 |
| :10F870000E941E7C0895CFEFD0E1DEBFCDBFE0E057 |
| :10F88000F0E014915F01772474BE98E10FB6F8940C |
| :10F8900090936000109260000FBE7092C5008AE2E3 |
| :10F8A0008093C4008091C00082608093C0009093D8 |
| :10F8B000C10086E08093C200EF01072D8091C00057 |
| :10F8C00087FF0DC0013031F48091C6008A3AB1F152 |
| :10F8D00000E005C08091C6008B3109F401E0CE0143 |
| :10F8E00021968436910528F11F3F41F0112331F014 |
| :10F8F000E0910001F091010109951BC01092C50033 |
| :10F900008AE28093C4008AE00E941E7C8DE00E94FF |
| :10F910001E7C86E50E941E7C80E30E941E7C8EE297 |
| :10F920000E941E7C81E30E941E7C8AE30E941E7C52 |
| :10F9300005C080E593EC0197F1F7C0CF0E942E7CC3 |
| :10F940000E94267C813611F489E547C1813471F427 |
| :10F950000E94267CA82EBB24BA2CAA240E94267CB6 |
| :10F960009927A82AB92AB694A79406C1823629F401 |
| :10F9700089E50E941E7C81E00BC1823409F083C0BE |
| :10F980000E94267C9927D82FCC270E94267C992775 |
| :10F99000C82BD92B0E94267C082F12E0812E11E063 |
| :10F9A000912EEE24FF2464010894811C911CEC1616 |
| :10F9B000FD0618F40E94267C01C08FEFD6018C93BF |
| :10F9C0000894E11CF11CBFEFEB16F10461F358F34E |
| :10F9D000E4E77E1609F0DEC0063409F03DC0FFEF13 |
| :10F9E000AF16F7EFBF0608F033C0DE01A5016627AA |
| :10F9F0007727440F551F661F771F6A017B01C2E0FE |
| :10FA0000D1E001E08991992729913327322F2227CC |
| :10FA1000822B932B0C01FA0100935700E8951124D7 |
| :10FA20004E5F5F4F6F4F7F4F129761F785E0F60192 |
| :10FA300080935700E89507B600FCFDCF81E18093E5 |
| :10FA40005700E89576956795579547955A0194C064 |
| :10FA500080E00E941E7C90C0053409F08DC0F50145 |
| :10FA60009E01A2E0B1E0E1BD8F2F992782BD8D916B |
| :10FA700080BD3196FA9AF99AF999FECF215030401B |
| :10FA800091F75F0179C0873609F047C00E94267C54 |
| :10FA90009927D82ECC240E94267C9927C82AD92AB7 |
| :10FAA0000E94267C863411F5E6016501EE24FF24D0 |
| :10FAB000CC0CDD1CEE1CFF1CF60105911491802F6F |
| :10FAC0000E941E7C812F99270E941E7C82E090E07C |
| :10FAD000A0E0B0E0C80ED91EEA1EFB1E229761F717 |
| :10FAE000F694E794D794C79456012ACF853409F049 |
| :10FAF00027CF7501E1BC8F2D992782BDF89A089414 |
| :10FB0000E11CF11C80B50E941E7C0894C108D1083C |
| :10FB1000C114D10479F7570113CF853601F594E765 |
| :10FB2000791651F580E090E0A0E0B0E023E0FC0120 |
| :10FB300020935700E89507B600FCFDCF80509F4FFB |
| :10FB4000AF4FBF4F8F3FE7EF9E07E0E0AE07E0E02B |
| :10FB5000BE0768F381E180935700E8950DC08534B6 |
| :10FB600069F488E190E02CE00FB6F894A8958093B2 |
| :10FB700060000FBE209360008DE02FC08035E1F360 |
| :10FB80008C34D1F3803711F483E527C0843721F416 |
| :10FB90000E941E7C80E021C0843521F40E94267CD6 |
| :10FBA000782EEACF8B3109F4C9CE8A3A09F4C6CE51 |
| :10FBB000863529F480E30E941E7C81E30EC08337E2 |
| :10FBC00041F489E00E941E7C86E90E941E7C8EE141 |
| :10FBD00004C08B3109F4B4CE8FE30E941E7CB0CEFA |
| :040000030000F80001 |
| :00000001FF |
| /branches/V0.68d CRK HexaLotte/Hex-Files/Conrad LEA-4H Config-4Hz.txt |
|---|
| 0,0 → 1,58 |
| MON-VER - 0A 04 46 00 35 2E 30 30 20 20 20 20 4A 75 6C 20 31 37 20 32 30 30 36 20 31 35 3A 30 38 3A 31 30 00 01 30 30 30 34 30 30 30 31 00 00 4D 34 48 31 2E 31 43 20 4A 75 6C 20 31 37 20 32 30 30 36 20 31 36 3A 34 32 3A 33 30 00 00 |
| CFG-ANT - 06 13 04 00 0B 00 0F 38 |
| CFG-DAT - 06 06 02 00 00 00 |
| CFG-FXN - 06 0E 24 00 12 00 00 00 C0 D4 01 00 C0 D4 01 00 C0 27 09 00 C0 27 09 00 A0 8C 00 00 40 77 1B 00 00 00 00 00 00 00 00 00 |
| CFG-INF - 06 02 08 00 00 00 00 00 00 87 00 00 |
| CFG-INF - 06 02 08 00 01 00 00 00 00 00 00 87 |
| CFG-INF - 06 02 08 00 03 00 00 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 02 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 04 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 06 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 08 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 11 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 12 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 20 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 21 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 22 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 30 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 31 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 32 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 10 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 11 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 20 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 02 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 06 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 07 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 08 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 09 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 30 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 31 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0D 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0D 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 00 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 01 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 02 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 03 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 04 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 05 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 06 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 07 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 08 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F1 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 04 00 00 00 00 |
| CFG-NAV2 - 06 1A 28 00 03 00 00 00 03 03 10 02 50 C3 00 00 0F 0A 05 3C 00 01 00 00 FA 00 FA 00 64 00 2C 01 00 00 00 00 00 00 00 00 00 00 00 00 |
| CFG-NMEA - 06 17 04 00 00 23 00 02 |
| CFG-PRT - 06 00 14 00 01 00 00 00 D0 08 08 00 00 E1 00 00 01 00 01 00 00 00 00 00 |
| CFG-PRT - 06 00 14 00 02 00 00 00 D0 08 08 00 00 E1 00 00 01 00 01 00 00 00 00 00 |
| CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00 |
| CFG-RATE - 06 08 06 00 FA 00 01 00 00 00 |
| CFG-RXM - 06 11 02 00 03 00 |
| CFG-SBAS - 06 16 08 00 00 00 01 00 00 00 00 00 |
| CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 34 03 00 00 00 00 |
| /branches/V0.68d CRK HexaLotte/Hex-Files/Conrad LEA-4H Config-5Hz.txt |
|---|
| 0,0 → 1,58 |
| MON-VER - 0A 04 46 00 35 2E 30 30 20 20 20 20 4A 75 6C 20 31 37 20 32 30 30 36 20 31 35 3A 30 38 3A 31 30 00 01 30 30 30 34 30 30 30 31 00 00 4D 34 48 31 2E 31 43 20 4A 75 6C 20 31 37 20 32 30 30 36 20 31 36 3A 34 32 3A 33 30 00 00 |
| CFG-ANT - 06 13 04 00 0B 00 0F 38 |
| CFG-DAT - 06 06 02 00 00 00 |
| CFG-FXN - 06 0E 24 00 12 00 00 00 C0 D4 01 00 C0 D4 01 00 C0 27 09 00 C0 27 09 00 A0 8C 00 00 40 77 1B 00 00 00 00 00 00 00 00 00 |
| CFG-INF - 06 02 08 00 00 00 00 00 00 87 00 00 |
| CFG-INF - 06 02 08 00 01 00 00 00 00 00 00 87 |
| CFG-INF - 06 02 08 00 03 00 00 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 02 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 04 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 06 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 08 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 11 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 12 00 01 00 00 |
| CFG-MSG - 06 01 06 00 01 20 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 21 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 22 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 30 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 31 00 00 00 00 |
| CFG-MSG - 06 01 06 00 01 32 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 10 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 11 00 00 00 00 |
| CFG-MSG - 06 01 06 00 02 20 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 02 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 06 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 07 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 08 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0A 09 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 30 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0B 31 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0D 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 0D 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 00 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 01 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 02 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 03 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 04 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 05 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F0 06 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 07 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F0 08 00 00 00 01 |
| CFG-MSG - 06 01 06 00 F1 00 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 01 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 03 00 00 00 00 |
| CFG-MSG - 06 01 06 00 F1 04 00 00 00 00 |
| CFG-NAV2 - 06 1A 28 00 03 00 00 00 03 03 10 02 50 C3 00 00 0F 0A 05 3C 00 01 00 00 FA 00 FA 00 64 00 2C 01 00 00 00 00 00 00 00 00 00 00 00 00 |
| CFG-NMEA - 06 17 04 00 00 23 00 02 |
| CFG-PRT - 06 00 14 00 01 00 00 00 D0 08 08 00 00 E1 00 00 01 00 01 00 00 00 00 00 |
| CFG-PRT - 06 00 14 00 02 00 00 00 D0 08 08 00 00 E1 00 00 01 00 01 00 00 00 00 00 |
| CFG-PRT - 06 00 14 00 03 00 00 00 00 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00 |
| CFG-RATE - 06 08 06 00 64 00 02 00 00 00 |
| CFG-RXM - 06 11 02 00 03 00 |
| CFG-SBAS - 06 16 08 00 00 00 01 00 00 00 00 00 |
| CFG-TP - 06 07 14 00 40 42 0F 00 A0 86 01 00 01 01 00 00 32 00 34 03 00 00 00 00 |
| /branches/V0.68d CRK HexaLotte/Hex-Files/Flight-Ctrl_MEGA644_CMPS03_V0_68d.hex |
|---|
| 0,0 → 1,2348 |
| :100000000C94B3030C94D0030C94D0030C94D00341 |
| :100010000C94D0030C94D0030C94D0030C94D00314 |
| :100020000C94D0030C947D0D0C94D0030C94D0034D |
| :100030000C94AE180C94D0030C94D0030C94731849 |
| :100040000C94D0030C94D0030C94A60C0C94D00305 |
| :100050000C94C0080C94D0030C94D6050C94D003D7 |
| :100060000C94520E0C94D0030C94BB170C94D00338 |
| :100070000A0A0D004E65757472616C004865616412 |
| :10008000696E67486F6C64000A0D436F6E74726F1F |
| :100090006C3A20000A0D537570706F727420666F91 |
| :1000A000722047505320617420317374205541529F |
| :1000B00054004F4B0A0D000A0D43616C6962726176 |
| :1000C00074696E67206169722070726573737572EE |
| :1000D000652073656E736F722E2E000A0D53757056 |
| :1000E000706F727420666F7220436F6D70617373EE |
| :1000F000204D6F64756C6520434D50533033000ABA |
| :100100000D414343206E6F742063616C69627261BC |
| :1001100074656421000A0D3D3D3D3D3D3D3D3D3D45 |
| :100120003D3D3D3D3D3D3D3D3D3D3D3D3D3D3D3DFF |
| :100130003D3D3D3D3D000A0D466C69676874436F67 |
| :100140006E74726F6C0A0D48617264776172653A01 |
| :1001500025642E25640A0D536F6674776172653AC3 |
| :100160005625642E2564256320002E00416C743AC8 |
| :100170002025642E252E3364206D004C61743A20B6 |
| :1001800025642E252E3364252E3364206465670094 |
| :100190004C6F6E3A2025642E252E3364252E336451 |
| :1001A0002064656700536174733A202564204669B2 |
| :1001B000783A203F3F00536174733A20256420460B |
| :1001C00069783A20334400536174733A20256420DF |
| :1001D0004669783A20324400536174733A202564AA |
| :1001E000204669783A204E6F004E6F20646174613A |
| :1001F00020617661696C61626C65210048693A250D |
| :100200003469202043663A253469200047733A2533 |
| :100210003469202059613A253469200050693A2513 |
| :1002200034692020526F3A2534692000457874657E |
| :10023000726E436F6E74726F6C20200052616E6735 |
| :10024000653A2533692D25336900506F73697469E8 |
| :100250006F6E3A2025336900536574706F696E7450 |
| :10026000202025336900536572766F202000506F7F |
| :10027000343A2025336920506F383A2025336900FD |
| :10028000506F333A2025336920506F373A20253399 |
| :100290006900506F323A2025336920506F363A207A |
| :1002A00025336900506F313A2025336920506F356E |
| :1002B0003A20253369004F6666436F757273653A5D |
| :1002C000202535690048656164696E673A20202001 |
| :1002D00025356900436F757273653A20202020250B |
| :1002E000356900436F6D70617373202020202020DA |
| :1002F000200052432D4C6576656C3A202535690007 |
| :10030000566F6C746167653A202025356900486531 |
| :1003100069676874202534692028253369290052CB |
| :100320006F6C6C2020202534692028253369290032 |
| :100330005069746368202025346920282533692991 |
| :1003400000414343202D2053656E736F7200596145 |
| :100350007720202025346920282533692900526F11 |
| :100360006C6C2020253469202825336929005069C8 |
| :100370007463682025346920282533692900596170 |
| :100380007720202025346920282533692900526FE1 |
| :100390006C6C202025346920282533692900506998 |
| :1003A000746368202534692028253369290047793A |
| :1003B000726F202D2053656E736F720050333A2593 |
| :1003C0003469202050343A253469200050313A25D0 |
| :1003D0003469202050323A253469200047733A2589 |
| :1003E0003469202059613A253469200050693A2542 |
| :1003F00034692020526F3A253469200043373A256A |
| :100400003469202043383A253469200043353A25A1 |
| :100410003469202043363A253469200043333A2595 |
| :100420003469202043343A253469200043313A2589 |
| :100430003469202043323A2534692000436F6D70BF |
| :100440006173733A20202025356900526F6C6C3A35 |
| :100450002020202020202535690050697463683AE7 |
| :10046000202020202025356900417474697475644A |
| :10047000650048656967687420436F6E74726F6CBD |
| :10048000004E6F20004F6666736574202020203A6E |
| :10049000253569004169722050726573732E3A25C3 |
| :1004A00035690053657420506F696E743A202535A4 |
| :1004B00069004865696768743A20202020253569FD |
| :1004C0000028632920486F6C67657220427573733A |
| :1004D0000053657474696E673A202564200048579C |
| :1004E0003A5625642E25642053573A25642E2564F8 |
| :1004F0002563002B204D696B726F4B6F70746572B2 |
| :10050000202B005B25695D005B25695D000A0D55A8 |
| :1005100073696E6720506172616D657465722053F6 |
| :100520006574202564000A0D496E69742E204545C6 |
| :1005300050524F4D3A2047656E65726174696E671F |
| :100540002044656661756C742D506172616D6574CF |
| :1005500065722E2E2E0000008F001E01AD013B02A1 |
| :10056000CA025803E603740402058F051B06A7069A |
| :100570003307BE074808D2085B09E3096B0AF20A91 |
| :10058000780BFD0B810C040D860D070E870E060FF0 |
| :10059000840F00107B10F5106E11E5115B12CF1265 |
| :1005A0004213B31323149214FE146A15D3153B1689 |
| :1005B000A11605176717C81727188318DE183719EB |
| :1005C0008E19E319361A871AD61A231B6E1BB61B0F |
| :1005D000FD1B411C831CC31C001D3C1D751DAB1D58 |
| :1005E000E01D121E421E6F1E9A1EC31EE91E0D1F25 |
| :1005F0002E1F4D1F691F841F9B1FB01FC31FD31FBA |
| :10060000E11FEC1FF51FFB1FFF1F0020000102036D |
| :10061000040405060708090A0B0B0C0D0E0F101138 |
| :1006200011121314151516171818191A1B1B1C1D57 |
| :100630001D1E1F1F20212122232324242525262798 |
| :1006400027282829292A2A2B2B2C2C2D2D2D2E2EFC |
| :100650002F2F30303031313232323333333434347F |
| :10066000353535363636373737373838383939391A |
| :10067000393A3A3A3A3B3B3B3B3C3C3C3C3C3D3DC7 |
| :100680003D3D3E3E3E3E3E3F3F3F3F3F3F40404080 |
| :100690004040404141414141414242424242424246 |
| :1006A0004343434343434344444444444444444510 |
| :1006B00045454545454545454646464646464646E2 |
| :1006C00046474747474747474747474748484848B7 |
| :1006D0004848484848484849494949494949494991 |
| :1006E00049494949494A4A4A4A4A4A4A4A4A4A4A6F |
| :1006F0004A4A4A4B4B4B4B4B4B4B4B4B4B4B4B4B4D |
| :100700004B4B4B4B4C4C4C4C4C4C4C4C4C4C4C4C2D |
| :100710004C4C4C4C4C4C4C4D4D4D4D4D4D4D4D4D10 |
| :100720004D4D4D4D4D4D4D4D4D4D4D4D4D4E4E4EF6 |
| :100730004E4E4E4E4E4E4E4E4E4E4E4E4E4E4E4ED9 |
| :100740004E4E4E4E4E4E4E4F4F4F4F4F4F4F4F4FC0 |
| :100750004F4F4F4F4F4F4F4F4F4F4F4F4F4F4F4FA9 |
| :100760004F4F4F4F4F4F11241FBECFEFD0E1DEBF91 |
| :10077000CDBF14E0A0E0B1E0E4EEFEE802C00590D9 |
| :100780000D92AA3BB107D9F718E0AAEBB4E001C07B |
| :100790001D92AE3FB107E1F70E94D2030C9471475E |
| :1007A0000C940000CF93DF93F89414B815B8189BFD |
| :1007B00002C08BE001C08AE08093000184B18360B5 |
| :1007C00084B9209100012A3011F4289A01C0289898 |
| :1007D000299884B7877F84BF809160008861809367 |
| :1007E00060001092600080ED97E09093D8048093B1 |
| :1007F000D70410923D0810923C0810926E0510929A |
| :100800006D0510926C0510926B0510926A0510929E |
| :1008100069052A3011F4289801C0289A0E940B1704 |
| :100820000E945C0C0E945A0D0E947C050E943F1899 |
| :100830000E94350E0E9464170E941742789410920D |
| :100840003E0784E480933F0787E080934007209130 |
| :100850000001822F6AE00E94A246492F50E0822FB9 |
| :100860000E94A24690E024E630E03F932F9324E4D8 |
| :1008700030E03F932F931F921F925F934F939F936C |
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| /branches/V0.68d CRK HexaLotte/Hex-Files/Flight-Ctrl_MEGA644p_MM3_V0_68d.hex |
|---|
| 0,0 → 1,2505 |
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| /branches/V0.68d CRK HexaLotte/Hex-Files/Readme.txt |
|---|
| 0,0 → 1,173 |
| V0.68d Ausgangsversion. |
| G.Stobrawa 06.03.2008: |
| - Code stärker modularisiert und restrukturiert |
| - viele Kommentare zur Erklärug eingefügt |
| - konsequent englische Variablennamen |
| - PPM24 Support für bis zu 12 RC-Kanäle. |
| - Support für Kompass CMPS01 oder MM3 (mit verbesserte Neigungskompensation, stabilere Kommunikation) (Option im Makefile) |
| - 2. Uart wird nun unterstützt (MCU = atmega644p im Makefile) |
| - Ausertung des UBX-Pprotocols an 1. oder 2. Uart |
| - einige kleinere Bugfixes |
| - GPS-Hold-Funktion hinzugefügt |
| - GPS-Home-Funktion hinzugefügt (wird beim Motorstart gelernt, und bei Motorenstop wieder gelöscht) |
| - Poti3 steuert die GPS Funktionen (Poti3 < 70:GPS inaktiv, 70<=Poti3<160: GPS Hold, 160<=Poti3: GPS Home) |
| - LED Steuerung an J16, parametrierbar durch die User Parameter 7 & 8. UserParam7 legt die |
| LEDOnTime in Vielfachen von 2ms fest und UserParam 8 die LEDOffTime. |
| - Zusätzliche Punkte im Menü des KopterTool zur Anzeige des GPS-Status und der MM3-Kalibierparameter |
| - Hardware Configuration: |
| - Die PWM des CMPS03 wird wie bisher standard über den Port PC4 (Pin5 an SV1 der FC) eingelesen. |
| - Der MM3 wird wie folgt verbunden. |
| FC 1.0/1.1/1.2 Level Shifter MM3 |
| SCK (Pin1 SV5) ---> SCK (Pin1) |
| MISO (Pin3 SV5) <--- MISO (Pin2) |
| MOSI (Pin5 SV5) ---> MOSI (Pin3) |
| GND (Pin6 SV5) ---> GND (Pin7 / Pin14) |
| PC4 (Pin5 SV1) ---> SS (Pin4) |
| PC5 (Pin6 SV1) ---> RESET (Pin6) |
| Zusätzlich benötigt der MM3 noch eine 3V oder 3V3 Versorgung an VDD (Pin12). |
| - Für das UBLOX-Modul muss noch GPS-GND mit FC-GND (Pin7 SV1) und |
| die GPS-TXD Leitung mit FC-RXD (Pin1 SV1) verbunden werden, |
| wenn man die FC 1.0 mit dem Atmega644 verwendet. |
| Für die FC 1.1/1.2 mit Atmega644p-Bestückung benötigt man FC-RXD1 (Pin3 SV1). |
| Zusätzlich benötigt das UBLOX-Modul noch eine 5V-Versorgung die ggf. von |
| der FC (an Pin2 SV1) abgegriffen werden kann. |
| Wenn die FC gültige Messages vom GPS empfängt, blinkt die rote LED mit 4 Hz. |
| - Konfiguration des MK. |
| Es sollte ein Haken bei GPS und Kompass gesetzt sein. Wenn nur GPS Aktiviert ist, wird intern immer auch der |
| Kompass aktiviert, da er für den GPS-Regler unbedingt notwendig ist. |
| - Unter Sonstiges: Kompass-Wirkung etwa auf 50 bis 70. |
| - User Parameters: |
| Parameter 2 --> I-Factor for GPS PD controller (start with small values below 10) |
| Parameter 3 --> Calibration factor for transforming Gyro Integrals to angular degrees (~170) |
| Parameter 4 --> Angle between the MM3 Board (Arrow) and the MK head (typical ~180) |
| Parameter 5 --> P-Factor for GPS PD controller (~70) |
| Parameter 6 --> D-Factor for GPS PD controller (~140) |
| Parameter 7 --> LED1Time for J16 |
| Parameter 8 --> LED2Time for J17 |
| - LED-Steuerung an J16/J17 |
| Das Verhalten der über einen Transistor gegen Masse geschalteten Ausgänge J16/J17 wird mit |
| Hilfe der Userparameter 7 und 8 angepasst. |
| Es gilt: |
| UP7/8 < 20: Ausgang liegt dauerhaft auf Masse. |
| UP7/8 > 220: Ausgang ist dauerhaft hochohmig. |
| Sonst wird geblinkt, wobei sich die Frequenz mit dem Userparameter zwischen 2 bis 25 Hz einstellen lässt. |
| - Zusätzliche akustische Signale: |
| Signale die eine Fehlfunktion anzeigen: |
| Dauerton: Eine GPS-Funktion ist aktiviert und es werden keine oder |
| unvollständige GPS-Daten via UART empfangen. |
| Hier ist zu berücksichtigen, dass die folgenden UBX Messages am UBLOX |
| aktiviert wurden: NAV-POSLLH, NAV-SOL, NAV-VELNED. |
| Fehlt eine dieser Messages wird breits der Dauerton gesetzt. |
| 5Hz Piepen: Ist eine der GPS Funktion aktiviert, zeigt dass den Empfang valider UBX-Daten, |
| wenn noch kein 3D-Satfix vorliegt. Die Pausen zwischen den 4Hz Pieps werden |
| immer länger je mehr Satelitten das GPS empfängt. |
| Liegt ein 3D Fix vor, so verstummt der Pieper dann endgültig egal wie viele Satelitten |
| beteiligt sind (es müssen dafür aber mindesten 4 sein). |
| Ist die Comming Home Funktion aktiv (Poti3>160) und konnte keine Home-Position beim |
| Einschalten der Motoren eingelernt werden, so ertönt ebenfalls ein 4Hz-Piepen. |
| 10Hz Piepen: Die Kommunikation zum Kompassmodul ist gestört. (Funktioniert bei beiden Kompassmodulen) |
| Der CompassValue in den Debugs vom Koptertool zeigt dann -1 an. |
| Signale die eine Aktion bestätigen. |
| 1s Piepen: Ertönt dieses Signal nach dem Einschalten der Motoren wird die erfolgreiche |
| Übernahme der Home-Position bestätigt. |
| - Inbetriebnahme: |
| Nach dem Flashen des Codes sollte man die Kalibrierung für den MM3 wiederholen, da diese Daten |
| an einer anderen Position im EEProm der FC abgelegt und wieder gelesen werden. |
| - Kopter ausschalten |
| - den Gas/Gierstick in die obere linke Ecke stellen |
| - Kopter einschalten (Periodisches Piepen zeigt aktive Kalibrierroutine an |
| und der Gierstick kann wieder in die Giermittelstellung.) |
| - den Kopter fleißig umherwürfeln, damit jeder der 3 Magnetfeldsensoren einmal den Minimal. bzw. Maximalwert |
| des Erdmagnetfeldes gemessen hat. Man kann das etwas gezielter machen, denn die Richtung des Erdmagnetfeldes zeigt |
| in etwa nach Norden und taucht ca. mit 70° bzgl. des Horizonts in in die Erde ein. |
| Die Messwerte werden auf dem Terminal des Koptertoolswärend der Kalibrierung angezeigt. |
| Legt man den Gierstick bei der Kalibrierung nach links, so werden die bis dahin gefundenen Maximalwerte |
| auf 0 zurückgesetzt und man muß von neuem Würflen. Ich habe das eingebaut, weil ich festgestellt habe, das bei |
| mir die +z-Achse des Kompass am anfang durch einen Spike nach dem Einschalten oder ähnliches erhöht war. |
| - am Ende den Gasstick nach unten drücken, damit die Kalibrierung beendet wird, und die Daten |
| im EEProm gesichter werden (Piepen beendet). |
| - Zur Sicherheit kann man die Kalibrierdaten im Menü des Koptertools unter Punkt 13 den Offset aller Achsen und unter |
| Punkt 14 den Range aller Achsen des MM3 anschauen. Bei mir sind die Werte der Offsets |
| nur wenige Counts von 0 verschieden und die Ranges fast gleich bei Werten um die 400-500 Counts. |
| Zur Bestimmung des User Parameters 3 (Umrechnungsfaktor zwischen dem Gyrointegral und dem zugehörigen Neigungswinkel) |
| hat sich folgendes Vorgehen bewehrt. |
| - Man bestimmt den Wert des Roll- und Nick-Integrals für einen Neigungswinkel von 45° |
| über die Ausgaben des Koptertools. |
| - Aus diesem Wert kann man den benötigten UserParam3 berechnen. |
| UserParam3 = (Nick-Integral(45°)+Roll-Integral(45°))/2*GyroACCFaktor/45°/8. (typisch 170) |
| - Nachdem dieser Wert über die Settings des Koptertools im MK abgepeichert ist, sollte sich der CompassValue bei |
| Verkippungen nur unwesentlich verändern. |
| - Preflight GPS Test: |
| Ist der Kopter eingeschaltet, so kann man den GPS-Empfang überprüfen, in dem man Poti3 > 70 setzt. |
| Erhält man ein Dauerpiepen besteht keine Kommunikation zum GPS oder eine der benötigten UBX-Messseages fehlt. |
| Blinkt die rote LED der FC, so werden grundsätzlich valide Daten vom GPS empfangen. Abhilfe schafft dann die |
| Einstellung des GPS-Moduls via USB und u-Center sodass die UBX Messages NAV-POSLLH, NAV-SOL, NAV-VELNED |
| mit 57600 baud auf zum Target 1 (RS232) gesendet werden. Es empfiehlt sich alle anderen Sendungen inkl. NMEA |
| abzuschalten, da diese sonst durch den UBX-Parser auf der FC laufen und sinnlose Rechenzeit beanspruchen. |
| Am einfachsten geht das mit dem Konfigurationsfile "Conrad LEA-4H Config.txt". Dazu verbindet man das |
| UBLOX-Modul via USB mit dem PC und started das u-Center. Dan wählt man im Menü: |
| "Tools->GPS Configuration" dieses File aus und klickt auf den Button "File >> GPS". |
| Hat man diese Hürde genommen (Dauerpiepsen ist Weg), wird wahrscheinlich ein 5Hz piepen zu hören sein. |
| Dieses zeigt den korrekten Empfang aller UBX-Messages an. Je mehr Satelitten empfangen werden, desto länger werden |
| die Pausen zwischen den Pieps, bis sie schleißlich ganz verschwinden, was einen 3D-Satfix signalisiert. |
| Die GPS-Funktionen können ggf. nun wieder abgeschaltet werden (Poti3<70). |
| - Setzen der Home Position: |
| Startet man die Motoren, so ertönt in diesem Moment eine 1s-langer Piep, der die erfolgreiche Übernahme |
| der Home-Position bestätigt. Dies passiert immer, auch wenn keine GPS-Funktion aktiviert wurde (Poti3<70). |
| Es kann jedoch sein, dass das Signal nicht ertönt. In diesem Fall konnte keine Home Position |
| abgespeichert werden, da zu diesem Zeitpunkt kein 3D-Fix vorlag. Aktiviert man dann später während des Fluges Comming Home (Poti3>160) wird dieser Zustand mit einem 5Hz Piepen angezeigt. Der Kopter versucht dann |
| wenigstens ein Position Hold. Schaltet man die Motoren ab, so wird auch die ggf. |
| gespeicherte Home-Position gelöscht. |
| - Dynamishes Position Hold: |
| Ist 70 < Poti3 < 160 so ist die dynamische Position Hold Funktion aktiv. Solange sich der Nick- & Roll-Stick |
| in Zentralposiotion befinden (genauer Auschlag < 20 Counts) wird die laterale (XY)-Position durch das GPS- |
| Signal geregelt. Dabei wird versucht die Abweichung der aktuellen GPS-Position von der zum Zeitpunkt |
| der letzen Nick/Roll-Stickbewegung gespeicherten Position zu minimieren. (Siehe dazu auch D- & P-Parameter |
| des GPS-Reglers). Dadurch kann man den MK zu einer bestimmten Position steuern und behält diese bei. |
| Es kann vorkommen, das bei extremer Timmerstellung an Nick und Roll der Funke der |
| zugehörige Stickwert bereits eine Auslenkung > 20 zeigt. In diesem Fall wird das Position Hold |
| leider nicht aktiviert. Durch die automatische Abschaltung des GPS-Reglers für den Fall einer manuellen |
| Bedienung kann man jederzeit in das Flugverhalten eingreifen. |
| - Comming Home: |
| Ist Poti3 > 160 so ist die Comming Home Funktion aktiv. Das verhalten ist analog dem Position Hold, |
| jedoch ist das Regelziel nicht die zuletzt gespeichwerte GPS-Position sondern die zum Zeitpunkt des |
| Einschaltens der MOtoren gespeicherte Home Position. Eine manualle Bedienung von Nick- und Roll-Stick |
| unterbricht auch hier sofort den GPS-Regler und die Steuerung erfolgt manuell. |
| /branches/V0.68d CRK HexaLotte/Hex-Files/WasIstWas.txt |
|---|
| 0,0 → 1,23 |
| +++++++++++++++++++++++++ |
| + 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. |
| Aktuelle Firmware |
| Wird per serielle Schnittstelle (durch den Bootloader) eingespielt |
| Flight-Ctrl SW >= 0.68 benötigt das Kopter-Tool 1.50 |
| Flight-Ctrl_MEGA644_CMPS03_V068d.hex für Atmega644 mit CMPS03 Kompass |
| Flight-Ctrl_MEGA644_MM3_V068d.hex für Atmega644 mit MM3 Kompass |
| Flight-Ctrl_MEGA644p_CMPS03_V068d.hex für Atmega644p mit CMPS03 Kompass |
| Flight-Ctrl_MEGA644p_MM3_V068d.hex für Atmega644p mit MM3 Kompass |
| Die Firmware läuft sowohl auf der FC 1.0 als auch auf der FC 1.1/1.2 |
| /branches/V0.68d CRK HexaLotte/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 CRK HexaLotte/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 CRK HexaLotte/_Settings.h |
|---|
| 0,0 → 1,38 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Testmodi |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MOTOR_OFF 0 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Abstimmung |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ACC_AMPLIFY 12 |
| #define FACTOR_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 |
| // +++++++++++++++++++++++++++++++ |
| // + 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 CRK HexaLotte/analog.c |
|---|
| 0,0 → 1,195 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "analog.h" |
| #include "main.h" |
| #include "timer0.h" |
| #include "fc.h" |
| #include "printf_P.h" |
| #include "eeprom.h" |
| volatile int16_t Current_AccZ = 0; |
| volatile int16_t UBat = 100; |
| volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0; |
| volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0; |
| volatile int32_t AirPressure = 32000; |
| volatile int16_t StartAirPressure; |
| volatile uint16_t ReadingAirPressure = 1023; |
| uint8_t PressureSensorOffset; |
| volatile int16_t HeightD = 0; |
| volatile uint16_t MeasurementCounter = 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 SearchAirPressureOffset(void) |
| { |
| uint8_t off; |
| off = GetParamByte(PID_PRESSURE_OFFSET); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| Delay_ms_Mess(100); |
| if(ReadingAirPressure < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(ReadingAirPressure < 900) break; |
| } |
| SetParamByte(PID_PRESSURE_OFFSET, off); |
| PressureSensorOffset = off; |
| Delay_ms_Mess(300); |
| } |
| /*****************************************************/ |
| /* Interrupt Service Routine for ADC */ |
| /*****************************************************/ |
| // runs at 156.25 kHz or 6.4 µs |
| // if after (70.4µs) all 11 states are processed the interrupt is disabled |
| // and the update of further ads is stopped |
| // The routine changes the ADC input muxer running |
| // thru the state machine by the following order. |
| // state 0: ch0 (yaw gyro) |
| // state 1: ch1 (roll gyro) |
| // state 2: ch2 (pitch gyro) |
| // state 3: ch4 (battery voltage -> UBat) |
| // state 4: ch6 (acc y -> Current_AccY) |
| // state 5: ch7 (acc x -> Current_AccX) |
| // state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw) |
| // state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll) |
| // state 8: ch2 (pitch gyro average with first reading -> AdValueGyrPitch) |
| // state 9: ch5 (acc z add also 4th part of acc x and acc y to reading) |
| // state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure) |
| ISR(ADC_vect) |
| { |
| static uint8_t adc_channel = 0, state = 0; |
| static uint16_t yaw1, roll1, pitch1; |
| static uint8_t average_pressure = 0; |
| static int16_t tmpAirPressure = 0; |
| // disable further AD conversion |
| ADC_Disable(); |
| // state machine |
| switch(state++) |
| { |
| case 0: |
| yaw1 = ADC; // get Gyro Yaw Voltage 1st sample |
| adc_channel = 1; // set next channel to ADC1 = ROLL GYRO |
| MeasurementCounter++; // increment total measurement counter |
| break; |
| case 1: |
| roll1 = ADC; // get Gyro Roll Voltage 1st sample |
| adc_channel = 2; // set next channel to ADC2 = PITCH GYRO |
| break; |
| case 2: |
| pitch1 = ADC; // get Gyro Pitch 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: |
| AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction |
| adc_channel = 7; // set next channel to ADC7 = ACC_X |
| break; |
| case 5: |
| AdValueAccPitch = ADC - NeutralAccX; // get acceleration in X direction |
| adc_channel = 0; // set next channel to ADC7 = YAW GYRO |
| break; |
| case 6: |
| // average over two samples to create current AdValueGyrYaw |
| if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2; |
| else AdValueGyrYaw = ADC + yaw1; // 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 ADValueGyrRoll |
| if(BoardRelease == 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 = PITCH GYRO |
| break; |
| case 8: |
| // average over two samples to create current ADValuePitch |
| if(BoardRelease == 10) AdValueGyrPitch = (ADC + pitch1) / 2; |
| else AdValueGyrPitch = ADC + pitch1; // 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(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4; |
| if(AdValueAccTop > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(AdValueAccTop < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| Current_AccZ = ADC; |
| Reading_Integral_Top += AdValueAccTop; // Integrieren |
| Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen |
| adc_channel = 3; // set next channel to ADC3 = air pressure |
| break; |
| case 10: |
| tmpAirPressure += ADC; // sum vadc values |
| if(++average_pressure >= 5) // if 5 values are summerized for averaging |
| { |
| ReadingAirPressure = ADC; // update measured air pressure |
| HeightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight); // D-Anteil = neuerWert - AlterWert |
| AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
| ReadingHeight = StartAirPressure - AirPressure; |
| average_pressure = 0; // reset air pressure measurement counter |
| tmpAirPressure = 0; |
| } |
| adc_channel = 0; // set next channel to ADC0 = GIER GYRO |
| state = 0; // reset state machine |
| break; |
| default: |
| adc_channel = 0; |
| state = 0; |
| break; |
| } |
| // set adc muxer to next adc_channel |
| ADMUX = (ADMUX & 0xE0) | adc_channel; |
| // after full cycle stop further interrupts |
| if(state != 0) ADC_Enable(); |
| } |
| /branches/V0.68d CRK HexaLotte/analog.h |
|---|
| 0,0 → 1,29 |
| #ifndef _ANALOG_H |
| #define _ANALOG_H |
| #include <inttypes.h> |
| extern volatile int16_t UBat; |
| extern volatile int16_t AdValueGyrPitch, AdValueGyrRoll, AdValueGyrYaw; |
| extern volatile int16_t AdValueAccRoll, AdValueAccPitch, AdValueAccTop; |
| extern volatile int16_t Current_AccZ; |
| extern volatile int32_t AirPressure; |
| extern volatile uint16_t MeasurementCounter; |
| extern uint8_t PressureSensorOffset; |
| extern volatile int16_t HeightD; |
| extern volatile uint16_t ReadingAirPressure; |
| extern volatile int16_t StartAirPressure; |
| extern void SearchAirPressureOffset(void); |
| extern void ADC_Init(void); |
| // clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
| #define ADC_Disable() (ADCSRA &= ~((1<<ADEN)|(1<<ADSC)|(1<<ADIE))) |
| // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
| #define ADC_Enable() (ADCSRA |= (1<<ADEN)|(1<<ADSC)|(1<<ADIE)) |
| #endif //_ANALOG_H |
| /branches/V0.68d CRK HexaLotte/cmps03.c |
|---|
| 0,0 → 1,95 |
| #include <avr/io.h> |
| #include <stdlib.h> |
| #include "fc.h" |
| #include "timer0.h" |
| #include "uart.h" |
| int32_t PWMHeading = -1; |
| uint8_t PWMTimeout = 0; |
| /*********************************************/ |
| /* Initialize Interface to CMPS02 Compass */ |
| /*********************************************/ |
| void CMPS03_Init(void) |
| { |
| // Port PC4 connected to PWM output from compass module |
| DDRC &= ~(1<<DDC4); // set as input |
| PORTC |= (1<<PORTC4); // pull up to increase PWM counter also if nothing is connected |
| PWMTimeout = 0; |
| } |
| /*********************************************/ |
| /* Get Data from CMPS03 */ |
| /*********************************************/ |
| void CMPS03_Update(void) // called every 102.4 us by timer 0 ISR |
| { |
| static uint16_t PWMCount = 0; |
| // The pulse width varies from 1ms (0°) to 36.99ms (359.9°) |
| // in other words 100us/° with a +1ms offset. |
| // The signal goes low for 65ms between pulses, |
| // so the cycle time is 65mS + the pulse width. |
| // The pulse is generated by a 16 bit timer in the processor |
| // giving a 1uS resolution, however I would not recommend |
| // measuring this to anything better than 0.1° (10uS). |
| if(PINC & (1<<PINC4)) |
| { // If PWM signal is high increment PWM high counter |
| // This counter is incremented by a periode of 102.4us, |
| // i.e. the resoluton of pwm coded heading is approx. 1 deg. |
| PWMCount++; |
| // pwm overflow? |
| if (PWMCount > 400) |
| { |
| if(PWMTimeout ) PWMTimeout--; // decrement timeout |
| PWMCount = 0; // reset PWM Counter |
| } |
| } |
| else // PWM is low |
| { |
| if((PWMCount) && (PWMCount < 400)) |
| { |
| if(PWMCount <9) PWMHeading = 0; |
| else PWMHeading = ((uint32_t)(PWMCount - 9) * 1049L)/1024; // correct timebase and offset |
| PWMTimeout = 12; // if 12 periodes long no valid PWM was detected the data are invalid |
| // 12 * 400 counts * 102.4 us = 419 ms |
| } |
| PWMCount = 0; // reset pwm counter |
| } |
| } |
| /*********************************************/ |
| /* Calculate north direction (heading) */ |
| /*********************************************/ |
| int16_t CMPS03_Heading(void) |
| { |
| int16_t heading, w, v; |
| if(PWMTimeout) |
| { |
| w = abs(IntegralPitch / 512); |
| v = abs(IntegralRoll / 512); |
| if(v > w) w = v; // get maximum declination |
| // if declination is small enough to have valid compass heading |
| if(w < 35) |
| { |
| // range from 0 to 359 |
| heading = (int16_t)PWMHeading; |
| if (heading < 0) heading += 360; |
| heading = heading%360; |
| } |
| else // compass to much tilted |
| { |
| heading = -1; |
| } |
| } |
| else // no data from compass |
| { |
| if(!BeepTime) BeepTime = 100; // make noise to signal the compass problem |
| heading = -1; |
| } |
| return heading; |
| } |
| /branches/V0.68d CRK HexaLotte/cmps03.h |
|---|
| 0,0 → 1,17 |
| #ifndef _CMPS03_H |
| #define _CMPS03_H |
| #include <inttypes.h> |
| // Initialization |
| void CMPS03_Init(void); |
| // should be called cyclic to get actual compass reading |
| void CMPS03_Update(void); |
| // calculates the current compass heading in a range from 0 to 360 deg. |
| // returns -1 if no compass data are available |
| int16_t CMPS03_Heading(void); |
| #endif //_CMPS03_H |
| /branches/V0.68d CRK HexaLotte/eeprom.c |
|---|
| 0,0 → 1,321 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #include <avr/eeprom.h> |
| #include <string.h> |
| #include "eeprom.h" |
| #include "printf_P.h" |
| // byte array in eeprom |
| uint8_t EEPromArray[E2END+1] EEMEM; |
| paramset_t ParamSet; |
| /***************************************************/ |
| /* Default Values for parameter set 1 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet1(void) // sport |
| { |
| ParamSet.ChannelAssignment[CH_PITCH] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_THRUST] = 3; |
| ParamSet.ChannelAssignment[CH_YAW] = 4; |
| ParamSet.ChannelAssignment[CH_POTI1] = 5; |
| ParamSet.ChannelAssignment[CH_POTI2] = 6; |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE;//CFG_HEIGHT_CONTROL | /*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE | CFG_COMPASS_FIX;//0x01; |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 4; // Wert : 0-50 |
| ParamSet.Stick_P = 4; //2 // Wert : 1-6 |
| ParamSet.Stick_D = 8; //8 // Wert : 0-64 |
| ParamSet.Yaw_P = 12; // Wert : 1-20 |
| ParamSet.Trust_Min = 15; // Wert : 0-32 |
| ParamSet.Trust_Max = 250; // Wert : 33-250 |
| ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
| ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
| ParamSet.Gyro_P = 80; // Wert : 0-250 |
| ParamSet.Gyro_I = 150; // Wert : 0-250 |
| ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
| ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| ParamSet.EmergencyThrustDuration = 20; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
| ParamSet.UfoArrangement = 0; // X oder + Formation |
| ParamSet.I_Factor = 32; |
| ParamSet.UserParam1 = 32 * 4; //zur freien Verwendung |
| ParamSet.UserParam2 = 0; //zur freien Verwendung |
| ParamSet.UserParam3 = 0; //zur freien Verwendung |
| ParamSet.UserParam4 = 0; //zur freien Verwendung |
| ParamSet.UserParam5 = 0; // zur freien Verwendung |
| ParamSet.UserParam6 = 0; // zur freien Verwendung |
| ParamSet.UserParam7 = 0; // zur freien Verwendung |
| ParamSet.UserParam8 = 0; // zur freien Verwendung |
| ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
| ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchRefresh = 5; |
| ParamSet.LoopThrustLimit = 50; |
| ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| ParamSet.Yaw_PosFeedback = 90; |
| ParamSet.Yaw_NegFeedback = 5; |
| ParamSet.AngleTurnOverPitch = 100; |
| ParamSet.AngleTurnOverRoll = 100; |
| ParamSet.GyroAccTrim = 16; // 1/k |
| ParamSet.DriftComp = 4; |
| ParamSet.DynamicStability = 100; |
| memcpy(ParamSet.Name, "Sport\0",6); |
| } |
| /***************************************************/ |
| /* Default Values for parameter set 2 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet2(void) // normal |
| { |
| ParamSet.ChannelAssignment[CH_PITCH] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_THRUST] = 3; |
| ParamSet.ChannelAssignment[CH_YAW] = 4; |
| ParamSet.ChannelAssignment[CH_POTI1] = 5; |
| ParamSet.ChannelAssignment[CH_POTI2] = 6; |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_AXIS_COUPLING_ACTIVE;//CFG_HEIGHT_CONTROL | /*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE;//0x01; |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 3; // Wert : 0-50 |
| ParamSet.Stick_P = 3; //2 // Wert : 1-6 |
| ParamSet.Stick_D = 4; //8 // Wert : 0-64 |
| ParamSet.Yaw_P = 6; // Wert : 1-20 |
| ParamSet.Trust_Min = 15; // Wert : 0-32 |
| ParamSet.Trust_Max = 250; // Wert : 33-250 |
| ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
| ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
| ParamSet.Gyro_P = 80; // Wert : 0-250 |
| ParamSet.Gyro_I = 120; // Wert : 0-250 |
| ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
| ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| ParamSet.EmergencyThrustDuration = 20; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
| ParamSet.UfoArrangement = 0; // X oder + Formation |
| ParamSet.I_Factor = 32; |
| ParamSet.UserParam1 = 20 * 4; // zur freien Verwendung |
| ParamSet.UserParam2 = 0; // zur freien Verwendung |
| ParamSet.UserParam3 = 0; // zur freien Verwendung |
| ParamSet.UserParam4 = 0; // zur freien Verwendung |
| ParamSet.UserParam5 = 0; // zur freien Verwendung |
| ParamSet.UserParam6 = 0; // zur freien Verwendung |
| ParamSet.UserParam7 = 0; // zur freien Verwendung |
| ParamSet.UserParam8 = 0; // zur freien Verwendung |
| ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
| ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchRefresh = 5; |
| ParamSet.LoopThrustLimit = 50; |
| ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| ParamSet.Yaw_PosFeedback = 90; // Faktor, mit dem Yaw die Achsen Roll und Pitch verkoppelt |
| ParamSet.Yaw_NegFeedback = 5; |
| ParamSet.AngleTurnOverPitch = 100; |
| ParamSet.AngleTurnOverRoll = 100; |
| ParamSet.GyroAccTrim = 32; // 1/k |
| ParamSet.DriftComp = 4; |
| ParamSet.DynamicStability = 75; |
| memcpy(ParamSet.Name, "Normal\0", 7); |
| } |
| /***************************************************/ |
| /* Default Values for parameter set 3 */ |
| /***************************************************/ |
| void ParamSet_DefaultSet3(void) // beginner |
| { |
| ParamSet.ChannelAssignment[CH_PITCH] = 1; |
| ParamSet.ChannelAssignment[CH_ROLL] = 2; |
| ParamSet.ChannelAssignment[CH_THRUST] = 3; |
| ParamSet.ChannelAssignment[CH_YAW] = 4; |
| ParamSet.ChannelAssignment[CH_POTI1] = 5; |
| ParamSet.ChannelAssignment[CH_POTI2] = 6; |
| ParamSet.ChannelAssignment[CH_POTI3] = 7; |
| ParamSet.ChannelAssignment[CH_POTI4] = 8; |
| ParamSet.GlobalConfig = CFG_ROTARY_RATE_LIMITER | CFG_AXIS_COUPLING_ACTIVE;///*CFG_HEIGHT_SWITCH |*/ CFG_COMPASS_ACTIVE;//0x01; |
| ParamSet.Height_MinThrust = 30; |
| ParamSet.MaxHeight = 251; // Wert : 0-250 251 -> Poti1 |
| ParamSet.Height_P = 10; // Wert : 0-32 |
| ParamSet.Height_D = 30; // Wert : 0-250 |
| ParamSet.Height_ACC_Effect = 30; // Wert : 0-250 |
| ParamSet.Height_Gain = 2; // Wert : 0-50 |
| ParamSet.Stick_P = 2; //2 // Wert : 1-6 |
| ParamSet.Stick_D = 4; //8 // Wert : 0-64 |
| ParamSet.Yaw_P = 6; // Wert : 1-20 |
| ParamSet.Trust_Min = 15; // Wert : 0-32 |
| ParamSet.Trust_Max = 250; // Wert : 33-250 |
| ParamSet.GyroAccFactor = 30; // Wert : 1-64 |
| ParamSet.CompassYawEffect = 128; // Wert : 0-250 |
| ParamSet.Gyro_P = 100; // Wert : 0-250 |
| ParamSet.Gyro_I = 140; // Wert : 0-250 |
| ParamSet.LowVoltageWarning = 94; // Wert : 0-250 |
| ParamSet.EmergencyThrust = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| ParamSet.EmergencyThrustDuration = 20; // Wert : 0-250 // Zeit bis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
| ParamSet.UfoArrangement = 0; // X oder + Formation |
| ParamSet.I_Factor = 16; |
| ParamSet.UserParam1 = 20 * 4; // zur freien Verwendung |
| ParamSet.UserParam2 = 0; // zur freien Verwendung |
| ParamSet.UserParam3 = 0; // zur freien Verwendung |
| ParamSet.UserParam4 = 0; // zur freien Verwendung |
| ParamSet.UserParam5 = 0; // zur freien Verwendung |
| ParamSet.UserParam6 = 0; // zur freien Verwendung |
| ParamSet.UserParam7 = 0; // zur freien Verwendung |
| ParamSet.UserParam8 = 0; // zur freien Verwendung |
| ParamSet.ServoPitchControl = 100; // Wert : 0-250 // Stellung des Servos |
| ParamSet.ServoPitchComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| ParamSet.ServoPitchCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| ParamSet.ServoPitchMin = 50; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchMax = 150; // Wert : 0-250 // Anschlag |
| ParamSet.ServoPitchRefresh = 5; |
| ParamSet.LoopThrustLimit = 50; |
| ParamSet.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| ParamSet.LoopHysteresis = 50; |
| ParamSet.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| ParamSet.Yaw_PosFeedback = 90; // Faktor, mit dem Yaw die Achsen Roll und Pitch verkoppelt |
| ParamSet.Yaw_NegFeedback = 5; |
| ParamSet.AngleTurnOverPitch = 100; |
| ParamSet.AngleTurnOverRoll = 100; |
| ParamSet.GyroAccTrim = 32; // 1/k |
| ParamSet.DriftComp = 4; |
| ParamSet.DynamicStability = 50; |
| memcpy(ParamSet.Name, "Beginner\0", 9); |
| } |
| /***************************************************/ |
| /* Read Parameter from EEPROM as byte */ |
| /***************************************************/ |
| uint8_t GetParamByte(uint8_t param_id) |
| { |
| return eeprom_read_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| } |
| /***************************************************/ |
| /* Write Parameter to EEPROM as byte */ |
| /***************************************************/ |
| void SetParamByte(uint8_t param_id, uint8_t value) |
| { |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| } |
| /***************************************************/ |
| /* Read Parameter from EEPROM as word */ |
| /***************************************************/ |
| uint16_t GetParamWord(uint8_t param_id) |
| { |
| return eeprom_read_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id]); |
| } |
| /***************************************************/ |
| /* Write Parameter to EEPROM as word */ |
| /***************************************************/ |
| void SetParamWord(uint8_t param_id, uint16_t value) |
| { |
| eeprom_write_word((uint16_t *) &EEPromArray[EEPROM_ADR_PARAM_BEGIN + param_id], value); |
| } |
| /***************************************************/ |
| /* Read Parameter Set from EEPROM */ |
| /***************************************************/ |
| // number [0..5] |
| void ParamSet_ReadFromEEProm(uint8_t setnumber) |
| { |
| if (setnumber > 5) setnumber = 5; |
| eeprom_read_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * setnumber], PARAMSET_STRUCT_LEN); |
| } |
| /***************************************************/ |
| /* Write Parameter Set to EEPROM */ |
| /***************************************************/ |
| // number [0..5] |
| void ParamSet_WriteToEEProm(uint8_t setnumber) |
| { |
| if(setnumber > 5) setnumber = 5; |
| eeprom_write_block((uint8_t *) &ParamSet.ChannelAssignment[0], &EEPromArray[EEPROM_ADR_PARAMSET_BEGIN + PARAMSET_STRUCT_LEN * setnumber], PARAMSET_STRUCT_LEN); |
| // set this parameter set to active set |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| /***************************************************/ |
| /* Get active parameter set */ |
| /***************************************************/ |
| uint8_t GetActiveParamSet(void) |
| { |
| uint8_t setnumber; |
| setnumber = eeprom_read_byte(&EEPromArray[PID_ACTIVE_SET]); |
| if(setnumber > 5) |
| { |
| setnumber = 2; |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| return(setnumber); |
| } |
| /***************************************************/ |
| /* Set active parameter set */ |
| /***************************************************/ |
| void SetActiveParamSet(uint8_t setnumber) |
| { |
| if(setnumber > 5) setnumber = 5; |
| eeprom_write_byte(&EEPromArray[PID_ACTIVE_SET], setnumber); |
| } |
| /***************************************************/ |
| /* Initialize EEPROM Parameter Sets */ |
| /***************************************************/ |
| void ParamSet_Init(void) |
| { |
| // version check |
| if(eeprom_read_byte(&EEPromArray[PID_VERSION]) != EEPARAM_VERSION) |
| { |
| // if version check faild |
| printf("\n\rInit. EEPROM: Generating Default-Parameter..."); |
| ParamSet_DefaultSet1(); // Fill ParamSet Structure to default parameter set 1 (Sport) |
| // fill all 5 parameter settings with set 1 except otherwise defined |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) ParamSet_DefaultSet2(); // Kamera |
| if(i==3) ParamSet_DefaultSet3(); // Beginner |
| if(i>3) ParamSet_DefaultSet2(); // Kamera |
| ParamSet_WriteToEEProm(i); |
| } |
| // default-Setting is parameter set 3 |
| SetParamByte(PID_ACTIVE_SET, 3); |
| // update version info |
| SetParamByte(PID_VERSION, EEPARAM_VERSION); |
| } |
| // read active parameter set to ParamSet stucture |
| ParamSet_ReadFromEEProm(GetParamByte(PID_ACTIVE_SET)); |
| printf("\n\rUsing Parameter Set %d", GetParamByte(PID_ACTIVE_SET)); |
| } |
| /branches/V0.68d CRK HexaLotte/eeprom.h |
|---|
| 0,0 → 1,122 |
| #ifndef _EEPROM_H |
| #define _EEPROM_H |
| #include <inttypes.h> |
| #define EEPROM_ADR_PARAM_BEGIN 0 |
| #define PID_VERSION 1 // byte |
| #define PID_ACTIVE_SET 2 // byte |
| #define PID_PRESSURE_OFFSET 3 // byte |
| #define PID_ACC_PITCH 4 // word |
| #define PID_ACC_ROLL 6 // word |
| #define PID_ACC_Z 8 // word |
| #define PID_MM3_X_OFF 10 // byte |
| #define PID_MM3_Y_OFF 11 // byte |
| #define PID_MM3_Z_OFF 12 // byte |
| #define PID_MM3_X_RANGE 13 // word |
| #define PID_MM3_Y_RANGE 15 // word |
| #define PID_MM3_Z_RANGE 17 // word |
| #define EEPROM_ADR_PARAMSET_BEGIN 100 |
| // bit mask for mk_param_struct.GlobalConfig |
| #define CFG_HEIGHT_CONTROL 0x01 |
| #define CFG_HEIGHT_SWITCH 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_COMPASS_ACTIVE 0x08 |
| #define CFG_COMPASS_FIX 0x10 |
| #define CFG_GPS_ACTIVE 0x20 |
| #define CFG_AXIS_COUPLING_ACTIVE 0x40 |
| #define CFG_ROTARY_RATE_LIMITER 0x80 |
| // bit mask for mk_param_struct.LoopConfig |
| #define CFG_LOOP_UP 0x01 |
| #define CFG_LOOP_DOWN 0x02 |
| #define CFG_LOOP_LEFT 0x04 |
| #define CFG_LOOP_RIGHT 0x08 |
| // defines for lookup mk_param_struct.ChannelAssignment |
| #define CH_PITCH 0 |
| #define CH_ROLL 1 |
| #define CH_THRUST 2 |
| #define CH_YAW 3 |
| #define CH_POTI1 4 |
| #define CH_POTI2 5 |
| #define CH_POTI3 6 |
| #define CH_POTI4 7 |
| #define EEPARAM_VERSION 69 // is count up, if EE_Paramater stucture has changed (compatibility) |
| // values above 250 representing poti1 to poti4 |
| typedef struct |
| { |
| uint8_t ChannelAssignment[8]; // see upper defines for details |
| uint8_t GlobalConfig; // see upper defines for bitcoding |
| uint8_t Height_MinThrust; // Wert : 0-100 |
| uint8_t Height_D; // Wert : 0-250 |
| uint8_t MaxHeight; // Wert : 0-32 |
| uint8_t Height_P; // Wert : 0-32 |
| uint8_t Height_Gain; // Wert : 0-50 |
| uint8_t Height_ACC_Effect; // Wert : 0-250 |
| uint8_t Stick_P; // Wert : 1-6 |
| uint8_t Stick_D; // Wert : 0-64 |
| uint8_t Yaw_P; // Wert : 1-20 |
| uint8_t Trust_Min; // Wert : 0-32 |
| uint8_t Trust_Max; // Wert : 33-250 |
| uint8_t GyroAccFactor; // Wert : 1-64 |
| uint8_t CompassYawEffect; // Wert : 0-32 |
| uint8_t Gyro_P; // Wert : 10-250 |
| uint8_t Gyro_I; // Wert : 0-250 |
| uint8_t LowVoltageWarning; // Wert : 0-250 |
| uint8_t EmergencyThrust; // Wert : 0-250 //Gaswert bei Empängsverlust |
| uint8_t EmergencyThrustDuration; // Wert : 0-250 // Zeitbis auf EmergencyThrust geschaltet wird, wg. Rx-Problemen |
| uint8_t UfoArrangement; // x oder + Formation |
| uint8_t I_Factor; // Wert : 0-250 |
| uint8_t UserParam1; // Wert : 0-250 |
| uint8_t UserParam2; // Wert : 0-250 |
| uint8_t UserParam3; // Wert : 0-250 |
| uint8_t UserParam4; // Wert : 0-250 |
| uint8_t ServoPitchControl; // Wert : 0-250 // Stellung des Servos |
| uint8_t ServoPitchComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| uint8_t ServoPitchMin; // Wert : 0-250 // Anschlag |
| uint8_t ServoPitchMax; // Wert : 0-250 // Anschlag |
| uint8_t ServoPitchRefresh; // |
| uint8_t LoopThrustLimit; // Wert: 0-250 max. Gas während Looping |
| uint8_t LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| uint8_t LoopHysteresis; // Wert: 0-250 Hysterese für Stickausschlag |
| uint8_t Yaw_PosFeedback; // Wert: 0-250 Faktor, mit dem Yaw die Achsen Roll und Pitch koppelt (PitchRollMitkopplung) |
| uint8_t Yaw_NegFeedback; // Wert: 0-250 Faktor, mit dem Yaw die Achsen Roll und Pitch Gegenkoppelt (PitchRollGegenkopplung) |
| uint8_t AngleTurnOverPitch; // Wert: 0-250 180°-Punkt |
| uint8_t AngleTurnOverRoll; // Wert: 0-250 180°-Punkt |
| uint8_t GyroAccTrim; // 1/k (Koppel_ACC_Wirkung) |
| uint8_t DriftComp; |
| uint8_t DynamicStability; |
| uint8_t UserParam5; // Wert : 0-250 |
| uint8_t UserParam6; // Wert : 0-250 |
| uint8_t UserParam7; // Wert : 0-250 |
| uint8_t UserParam8; // Wert : 0-250 |
| uint8_t LoopConfig; // see upper defines for bitcoding |
| uint8_t ServoPitchCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| uint8_t Reserved[4]; |
| int8_t Name[12]; |
| } paramset_t; |
| #define PARAMSET_STRUCT_LEN sizeof(paramset_t) |
| extern paramset_t ParamSet; |
| extern void ParamSet_Init(void); |
| extern void ParamSet_ReadFromEEProm(uint8_t setnumber); |
| extern void ParamSet_WriteToEEProm(uint8_t setnumber); |
| extern uint8_t GetActiveParamSet(void); |
| extern void SetActiveParamSet(uint8_t setnumber); |
| extern uint8_t GetParamByte(uint8_t param_id); |
| extern void SetParamByte(uint8_t param_id, uint8_t value); |
| extern uint16_t GetParamWord(uint8_t param_id); |
| extern void SetParamWord(uint8_t param_id, uint16_t value); |
| #endif //_EEPROM_H |
| /branches/V0.68d CRK HexaLotte/fc.c |
|---|
| 0,0 → 1,1310 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include "main.h" |
| #include "eeprom.h" |
| #include "timer0.h" |
| #include "_Settings.h" |
| #include "analog.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "uart.h" |
| #include "rc.h" |
| #include "twimaster.h" |
| #ifdef USE_MM3 |
| #include "mm3.h" |
| #endif |
| #ifdef USE_CMPS03 |
| #include "cmps03.h" |
| #endif |
| #include "led.h" |
| volatile uint16_t I2CTimeout = 100; |
| // gyro readings |
| volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
| // gyro neutral readings |
| volatile int16_t AdNeutralPitch = 0, AdNeutralRoll = 0, AdNeutralYaw = 0; |
| volatile int16_t StartNeutralRoll = 0, StartNeutralPitch = 0; |
| // mean accelerations |
| volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
| // neutral acceleration readings |
| volatile int16_t NeutralAccX=0, NeutralAccY=0; |
| volatile float NeutralAccZ = 0; |
| // attitude gyro integrals |
| volatile int32_t IntegralPitch = 0,IntegralPitch2 = 0; |
| volatile int32_t IntegralRoll = 0,IntegralRoll2 = 0; |
| volatile int32_t IntegralYaw = 0; |
| volatile int32_t Reading_IntegralGyroPitch = 0, Reading_IntegralGyroPitch2 = 0; |
| volatile int32_t Reading_IntegralGyroRoll = 0, Reading_IntegralGyroRoll2 = 0; |
| volatile int32_t Reading_IntegralGyroYaw = 0; |
| volatile int32_t MeanIntegralPitch; |
| volatile int32_t MeanIntegralRoll; |
| // attitude acceleration integrals |
| volatile int32_t IntegralAccPitch = 0, IntegralAccRoll = 0; |
| volatile int32_t Reading_Integral_Top = 0; |
| // compass course |
| volatile int16_t CompassHeading = -1; // negative angle indicates invalid data. |
| volatile int16_t CompassCourse = -1; |
| volatile int16_t CompassOffCourse = 0; |
| // flags |
| uint8_t MotorsOn = 0; |
| uint8_t EmergencyLanding = 0; |
| int32_t TurnOver180Pitch = 250000L, TurnOver180Roll = 250000L; |
| float Gyro_P_Factor; |
| float Gyro_I_Factor; |
| volatile int16_t DiffPitch, DiffRoll; |
| int16_t Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| // setpoints for motors |
| volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left; |
| // stick values derived by rc channels readings |
| int16_t StickPitch = 0, StickRoll = 0, StickYaw = 0, StickThrust = 0; |
| int16_t MaxStickPitch = 0, MaxStickRoll = 0; |
| // stick values derived by uart inputs |
| int16_t ExternStickPitch = 0, ExternStickRoll = 0, ExternStickYaw = 0, ExternHeightValue = -20; |
| int16_t ReadingHeight = 0; |
| int16_t SetPointHeight = 0; |
| int16_t AttitudeCorrectionRoll = 0, AttitudeCorrectionPitch = 0; |
| float Ki = FACTOR_I; |
| uint8_t Looping_Pitch = 0, Looping_Roll = 0; |
| uint8_t Looping_Left = 0, Looping_Right = 0, Looping_Down = 0, Looping_Top = 0; |
| fc_param_t FCParam = {48,251,16,58,64,150,150,2,10,0,0,0,0,0,0,0,0,100,70,0,0,100}; |
| /************************************************************************/ |
| /* Creates numbeeps beeps at the speaker */ |
| /************************************************************************/ |
| void Beep(uint8_t numbeeps) |
| { |
| while(numbeeps--) |
| { |
| if(MotorsOn) return; //auf keinen Fall im Flug! |
| BeepTime = 100; // 0.1 second |
| Delay_ms(250); // blocks 250 ms as pause to next beep, |
| // this will block the flight control loop, |
| // therefore do not use this funktion if motors are running |
| } |
| } |
| /************************************************************************/ |
| /* Neutral Readings */ |
| /************************************************************************/ |
| void SetNeutral(void) |
| { |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralPitch = 0; |
| AdNeutralRoll = 0; |
| AdNeutralYaw = 0; |
| FCParam.Yaw_PosFeedback = 0; |
| FCParam.Yaw_NegFeedback = 0; |
| CalibMean(); |
| Delay_ms_Mess(100); |
| CalibMean(); |
| if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL)) // Height Control activated? |
| { |
| if((ReadingAirPressure > 950) || (ReadingAirPressure < 750)) SearchAirPressureOffset(); |
| } |
| AdNeutralPitch = AdValueGyrPitch; |
| AdNeutralRoll = AdValueGyrRoll; |
| AdNeutralYaw = AdValueGyrYaw; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralPitch = AdNeutralPitch; |
| if(GetParamWord(PID_ACC_PITCH) > 1023) |
| { |
| NeutralAccY = abs(Mean_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mean_AccPitch) / ACC_AMPLIFY; |
| NeutralAccZ = Current_AccZ; |
| } |
| else |
| { |
| NeutralAccX = (int16_t)GetParamWord(PID_ACC_PITCH); |
| NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
| NeutralAccZ = (int16_t)GetParamWord(PID_ACC_Z); |
| } |
| Reading_IntegralGyroPitch = 0; |
| Reading_IntegralGyroPitch2 = 0; |
| Reading_IntegralGyroRoll = 0; |
| Reading_IntegralGyroRoll2 = 0; |
| Reading_IntegralGyroYaw = 0; |
| Reading_GyroPitch = 0; |
| Reading_GyroRoll = 0; |
| Reading_GyroYaw = 0; |
| StartAirPressure = AirPressure; |
| HeightD = 0; |
| Reading_Integral_Top = 0; |
| CompassCourse = CompassHeading; |
| BeepTime = 50; |
| TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| ExternHeightValue = 0; |
| GPS_Neutral(); |
| } |
| /************************************************************************/ |
| /* Averaging Measurement Readings */ |
| /************************************************************************/ |
| void Mean(void) |
| { |
| static int32_t tmpl,tmpl2; |
| // Get offset corrected gyro readings (~ to angular velocity) |
| Reading_GyroYaw = AdNeutralYaw - AdValueGyrYaw; |
| Reading_GyroRoll = AdValueGyrRoll - AdNeutralRoll; |
| Reading_GyroPitch = AdValueGyrPitch - AdNeutralPitch; |
| DebugOut.Analog[26] = Reading_GyroPitch; |
| DebugOut.Analog[28] = Reading_GyroRoll; |
| // Acceleration Sensor |
| // sliding average sensor readings |
| Mean_AccPitch = ((int32_t)Mean_AccPitch * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccPitch))) / 2L; |
| Mean_AccRoll = ((int32_t)Mean_AccRoll * 1 + ((ACC_AMPLIFY * (int32_t)AdValueAccRoll))) / 2L; |
| Mean_AccTop = ((int32_t)Mean_AccTop * 1 + ((int32_t)AdValueAccTop)) / 2L; |
| // sum sensor readings for later averaging |
| IntegralAccPitch += ACC_AMPLIFY * AdValueAccPitch; |
| IntegralAccRoll += ACC_AMPLIFY * AdValueAccRoll; |
| // Yaw |
| // calculate yaw gyro intergral (~ to rotation angle) |
| Reading_IntegralGyroYaw += Reading_GyroYaw; |
| // Coupling fraction |
| if(!Looping_Pitch && !Looping_Roll && (ParamSet.GlobalConfig & CFG_AXIS_COUPLING_ACTIVE)) |
| { |
| tmpl = Reading_IntegralGyroPitch / 4096L; |
| tmpl *= Reading_GyroYaw; |
| tmpl *= FCParam.Yaw_PosFeedback; //125 |
| tmpl /= 2048L; |
| tmpl2 = Reading_IntegralGyroRoll / 4096L; |
| tmpl2 *= Reading_GyroYaw; |
| tmpl2 *= FCParam.Yaw_PosFeedback; |
| tmpl2 /= 2048L; |
| } |
| else tmpl = tmpl2 = 0; |
| // Roll |
| Reading_GyroRoll += tmpl; |
| Reading_GyroRoll += (tmpl2 * FCParam.Yaw_NegFeedback) / 512L; |
| Reading_IntegralGyroRoll2 += Reading_GyroRoll; |
| Reading_IntegralGyroRoll += Reading_GyroRoll - AttitudeCorrectionRoll; |
| if(Reading_IntegralGyroRoll > TurnOver180Roll) |
| { |
| Reading_IntegralGyroRoll = -(TurnOver180Roll - 10000L); |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| } |
| if(Reading_IntegralGyroRoll < -TurnOver180Roll) |
| { |
| Reading_IntegralGyroRoll = (TurnOver180Roll - 10000L); |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| } |
| if(AdValueGyrRoll < 15) Reading_GyroRoll = -1000; |
| if(AdValueGyrRoll < 7) Reading_GyroRoll = -2000; |
| if(BoardRelease == 10) |
| { |
| if(AdValueGyrRoll > 1010) Reading_GyroRoll = +1000; |
| if(AdValueGyrRoll > 1017) Reading_GyroRoll = +2000; |
| } |
| else |
| { |
| if(AdValueGyrRoll > 2020) Reading_GyroRoll = +1000; |
| if(AdValueGyrRoll > 2034) Reading_GyroRoll = +2000; |
| } |
| // Pitch |
| Reading_GyroPitch -= tmpl2; |
| Reading_GyroPitch -= (tmpl*FCParam.Yaw_NegFeedback) / 512L; |
| Reading_IntegralGyroPitch2 += Reading_GyroPitch; |
| Reading_IntegralGyroPitch += Reading_GyroPitch - AttitudeCorrectionPitch; |
| if(Reading_IntegralGyroPitch > TurnOver180Pitch) |
| { |
| Reading_IntegralGyroPitch = -(TurnOver180Pitch - 10000L); |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| } |
| if(Reading_IntegralGyroPitch < -TurnOver180Pitch) |
| { |
| Reading_IntegralGyroPitch = (TurnOver180Pitch - 10000L); |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| } |
| if(AdValueGyrPitch < 15) Reading_GyroPitch = -1000; |
| if(AdValueGyrPitch < 7) Reading_GyroPitch = -2000; |
| if(BoardRelease == 10) |
| { |
| if(AdValueGyrPitch > 1010) Reading_GyroPitch = +1000; |
| if(AdValueGyrPitch > 1017) Reading_GyroPitch = +2000; |
| } |
| else |
| { |
| if(AdValueGyrPitch > 2020) Reading_GyroPitch = +1000; |
| if(AdValueGyrPitch > 2034) Reading_GyroPitch = +2000; |
| } |
| // start ADC again to capture measurement values for the next loop |
| ADC_Enable(); |
| IntegralYaw = Reading_IntegralGyroYaw; |
| IntegralPitch = Reading_IntegralGyroPitch; |
| IntegralRoll = Reading_IntegralGyroRoll; |
| IntegralPitch2 = Reading_IntegralGyroPitch2; |
| IntegralRoll2 = Reading_IntegralGyroRoll2; |
| if((ParamSet.GlobalConfig & CFG_ROTARY_RATE_LIMITER) && !Looping_Pitch && !Looping_Roll) |
| { |
| if(Reading_GyroPitch > 200) Reading_GyroPitch += 4 * (Reading_GyroPitch - 200); |
| else if(Reading_GyroPitch < -200) Reading_GyroPitch += 4 * (Reading_GyroPitch + 200); |
| if(Reading_GyroRoll > 200) Reading_GyroRoll += 4 * (Reading_GyroRoll - 200); |
| else if(Reading_GyroRoll < -200) Reading_GyroRoll += 4 * (Reading_GyroRoll + 200); |
| } |
| } |
| /************************************************************************/ |
| /* Averaging Measurement Readings for Calibration */ |
| /************************************************************************/ |
| void CalibMean(void) |
| { |
| // stop ADC to avoid changing values during calculation |
| ADC_Disable(); |
| Reading_GyroPitch = AdValueGyrPitch; |
| Reading_GyroRoll = AdValueGyrRoll; |
| Reading_GyroYaw = AdValueGyrYaw; |
| Mean_AccPitch = ACC_AMPLIFY * (int32_t)AdValueAccPitch; |
| Mean_AccRoll = ACC_AMPLIFY * (int32_t)AdValueAccRoll; |
| Mean_AccTop = (int32_t)AdValueAccTop; |
| // start ADC (enables internal trigger so that the ISR in analog.c |
| // updates the readings once) |
| ADC_Enable(); |
| TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| } |
| /************************************************************************/ |
| /* Transmit Motor Data via I2C */ |
| /************************************************************************/ |
| void SendMotorData(void) |
| { |
| if(MOTOR_OFF || !MotorsOn) |
| { |
| Motor_RearLeft = 0; |
| Motor_RearRight = 0; |
| Motor_FrontLeft = 0; |
| Motor_FrontRight = 0; |
| Motor_Right = 0; |
| Motor_Left = 0; |
| if(MotorTest[0]) Motor_FrontLeft = Motor_FrontRight = MotorTest[0]; |
| if(MotorTest[1]) Motor_RearLeft = Motor_RearRight = MotorTest[1]; |
| if(MotorTest[2]) Motor_Left = MotorTest[2]; |
| if(MotorTest[3]) Motor_Right = MotorTest[3]; |
| } |
| DebugOut.Analog[12] = Motor_FrontLeft; |
| DebugOut.Analog[13] = Motor_RearRight; |
| DebugOut.Analog[14] = Motor_FrontRight; |
| DebugOut.Analog[15] = Motor_RearLeft; |
| DebugOut.Analog[16] = Motor_Left; |
| DebugOut.Analog[17] = Motor_Right; |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| I2C_Start(); |
| } |
| /************************************************************************/ |
| /* Maps the parameter to poti values */ |
| /************************************************************************/ |
| void ParameterMapping(void) |
| { |
| if(RC_Quality > 160) // do the mapping of RC-Potis only if the rc-signal is ok |
| // else the last updated values are used |
| { |
| //update poti values by rc-signals |
| #define CHK_POTI(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(FCParam.MaxHeight,ParamSet.MaxHeight,0,255); |
| CHK_POTI(FCParam.Height_D,ParamSet.Height_D,0,100); |
| CHK_POTI(FCParam.Height_P,ParamSet.Height_P,0,100); |
| CHK_POTI(FCParam.Height_ACC_Effect,ParamSet.Height_ACC_Effect,0,255); |
| CHK_POTI(FCParam.CompassYawEffect,ParamSet.CompassYawEffect,0,255); |
| CHK_POTI(FCParam.Gyro_P,ParamSet.Gyro_P,10,255); |
| CHK_POTI(FCParam.Gyro_I,ParamSet.Gyro_I,0,255); |
| CHK_POTI(FCParam.I_Factor,ParamSet.I_Factor,0,255); |
| CHK_POTI(FCParam.UserParam1,ParamSet.UserParam1,0,255); |
| CHK_POTI(FCParam.UserParam2,ParamSet.UserParam2,0,255); |
| CHK_POTI(FCParam.UserParam3,ParamSet.UserParam3,0,255); |
| CHK_POTI(FCParam.UserParam4,ParamSet.UserParam4,0,255); |
| CHK_POTI(FCParam.UserParam5,ParamSet.UserParam5,0,255); |
| CHK_POTI(FCParam.UserParam6,ParamSet.UserParam6,0,255); |
| CHK_POTI(FCParam.UserParam7,ParamSet.UserParam7,0,255); |
| CHK_POTI(FCParam.UserParam8,ParamSet.UserParam8,0,255); |
| CHK_POTI(FCParam.ServoPitchControl,ParamSet.ServoPitchControl,0,255); |
| CHK_POTI(FCParam.LoopThrustLimit,ParamSet.LoopThrustLimit,0,255); |
| CHK_POTI(FCParam.Yaw_PosFeedback,ParamSet.Yaw_PosFeedback,0,255); |
| CHK_POTI(FCParam.Yaw_NegFeedback,ParamSet.Yaw_NegFeedback,0,255); |
| CHK_POTI(FCParam.DynamicStability,ParamSet.DynamicStability,0,255); |
| Ki = (float) FCParam.I_Factor * FACTOR_I; |
| } |
| } |
| /************************************************************************/ |
| /* MotorControl */ |
| /************************************************************************/ |
| void MotorControl(void) |
| { |
| int16_t MotorValue, pd_result, h, tmp_int; |
| int16_t YawMixFraction, ThrustMixFraction, PitchMixFraction, RollMixFraction; |
| static int32_t SumPitch = 0, SumRoll = 0; |
| static int32_t SetPointYaw = 0; |
| static int32_t IntegralErrorPitch = 0; |
| static int32_t IntegralErrorRoll = 0; |
| static uint16_t RcLostTimer; |
| static uint8_t delay_neutral = 0, delay_startmotors = 0, delay_stopmotors = 0; |
| static uint16_t Model_Is_Flying = 0; |
| static uint8_t HeightControlActive = 0; |
| static int16_t HeightControlThrust = 0; |
| static int8_t TimerDebugOut = 0; |
| static uint16_t UpdateCompassCourse = 0; |
| static int32_t CorrectionPitch, CorrectionRoll; |
| Mean(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // determine thrust value |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ThrustMixFraction = StickThrust; |
| if(ThrustMixFraction < 0) ThrustMixFraction = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // RC-signal is bad |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(RC_Quality < 120) // the rc-frame signal is not reveived or noisy |
| { |
| if(!PcAccess) // if also no PC-Access via UART |
| { |
| if(BeepModulation == 0xFFFF) |
| { |
| BeepTime = 15000; // 1.5 seconds |
| BeepModulation = 0x0C00; |
| } |
| } |
| if(RcLostTimer) RcLostTimer--; // decremtent timer after rc sigal lost |
| else // rc lost countdown finished |
| { |
| MotorsOn = 0; // stop all motors |
| EmergencyLanding = 0; // emergency landing is over |
| } |
| ROT_ON; // set red led |
| if(Model_Is_Flying > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| ThrustMixFraction = ParamSet.EmergencyThrust; // set emergency thrust |
| EmergencyLanding = 1; // enable emergency landing |
| // set neutral rc inputs |
| PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
| PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
| PPM_diff[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] = 0; |
| PPM_in[ParamSet.ChannelAssignment[CH_YAW]] = 0; |
| } |
| else MotorsOn = 0; // switch of all motors |
| } // eof RC_Quality < 120 |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // RC-signal is good |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(RC_Quality > 150) |
| { |
| EmergencyLanding = 0; // switch off emergency landing if RC-signal is okay |
| // reset emergency timer |
| RcLostTimer = ParamSet.EmergencyThrustDuration * 50; |
| if(ThrustMixFraction > 40) |
| { |
| if(Model_Is_Flying < 0xFFFF) Model_Is_Flying++; |
| } |
| if((Model_Is_Flying < 200) || (ThrustMixFraction < 40)) |
| { |
| SumPitch = 0; |
| SumRoll = 0; |
| Reading_IntegralGyroYaw = 0; |
| } |
| if(Poti1 < PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + 110 && Poti4) Poti4--; |
| //PPM24-Extension |
| if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| //limit poti values |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| //PPM24-Extension |
| if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| // if motors are off and the thrust stick is in the upper position |
| if((PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 80) && MotorsOn == 0) |
| { |
| // and if the yaw stick is in the leftmost position |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // calibrate the neutral readings of all attitude sensors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| { |
| if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_neutral = 0; |
| GRN_OFF; |
| Model_Is_Flying = 0; |
| // check roll/pitch stick position |
| // if pitch stick is topmost or roll stick is leftmost --> change parameter setting |
| // according to roll/pitch stick position |
| if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70 || abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > 70) |
| { |
| uint8_t setting = 1; // default |
| // _________ |
| // |2 3 4| |
| // | | |
| // |1 5| |
| // | | |
| // |_________| |
| // |
| // roll stick leftmost and pitch stick centered --> setting 1 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 1; |
| // roll stick leftmost and pitch stick topmost --> setting 2 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 2; |
| // roll stick centered an pitch stick topmost --> setting 3 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < 70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 3; |
| // roll stick rightmost and pitch stick topmost --> setting 4 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > 70) setting = 4; |
| // roll stick rightmost and pitch stick centered --> setting 5 |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] <-70 && PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < 70) setting = 5; |
| // update active parameter set in eeprom |
| SetActiveParamSet(setting); |
| } |
| ParamSet_ReadFromEEProm(GetActiveParamSet()); |
| SetNeutral(); |
| Beep(GetActiveParamSet()); |
| } |
| } |
| // and if the yaw stick is in the rightmost position |
| // save the ACC neutral setting to eeprom |
| else if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
| { |
| if(++delay_neutral > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_neutral = 0; |
| GRN_OFF; |
| SetParamWord(PID_ACC_PITCH, 0xFFFF); // make value invalid |
| Model_Is_Flying = 0; |
| SetNeutral(); |
| // Save ACC neutral settings to eeprom |
| SetParamWord(PID_ACC_PITCH, (uint16_t)NeutralAccX); |
| SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
| SetParamWord(PID_ACC_Z, (uint16_t)NeutralAccZ); |
| Beep(GetActiveParamSet()); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // thrust stick is down |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < -85) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // and yaw stick is rightmost --> start motors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] < -75) |
| { |
| if(++delay_startmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_startmotors = 200; // do not repeat if once executed |
| Model_Is_Flying = 1; |
| MotorsOn = 1; |
| SetPointYaw = 0; |
| Reading_IntegralGyroYaw = 0; |
| Reading_IntegralGyroPitch = 0; |
| Reading_IntegralGyroRoll = 0; |
| Reading_IntegralGyroPitch2 = IntegralPitch; |
| Reading_IntegralGyroRoll2 = IntegralRoll; |
| SumPitch = 0; |
| SumRoll = 0; |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| GPS_SetHomePosition(); |
| } |
| } |
| } |
| else delay_startmotors = 0; // reset delay timer if sticks are not in this position |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // and yaw stick is leftmost --> stop motors |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 75) |
| { |
| if(++delay_stopmotors > 200) // not immediately (wait 200 loops = 200 * 2ms = 0.4 s) |
| { |
| delay_stopmotors = 200; // do not repeat if once executed |
| Model_Is_Flying = 0; |
| MotorsOn = 0; |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| GPS_ClearHomePosition(); |
| } |
| } |
| } |
| else delay_stopmotors = 0; // reset delay timer if sticks are not in this position |
| } |
| // remapping of paameters only if the signal rc-sigbnal conditions are good |
| } // eof RC_Quality > 150 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // new values from RC |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || EmergencyLanding) // NewData = 0 means new data from RC |
| { |
| int tmp_int; |
| ParameterMapping(); // remapping params (online poti replacement) |
| // calculate Stick inputs by rc channels (P) and changing of rc channels (D) |
| StickPitch = (StickPitch * 3 + PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_P) / 4; |
| StickPitch += PPM_diff[ParamSet.ChannelAssignment[CH_PITCH]] * ParamSet.Stick_D; |
| StickRoll = (StickRoll * 3 + PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_P) / 4; |
| StickRoll += PPM_diff[ParamSet.ChannelAssignment[CH_ROLL]] * ParamSet.Stick_D; |
| // direct mapping of yaw and thrust |
| StickYaw = -PPM_in[ParamSet.ChannelAssignment[CH_YAW]]; |
| StickThrust = PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] + 120;// shift to positive numbers |
| // update max stick positions for pitch and roll |
| if(abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]) > MaxStickPitch) |
| MaxStickPitch = abs(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]]); |
| else MaxStickPitch--; |
| if(abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]) > MaxStickRoll) |
| MaxStickRoll = abs(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| else MaxStickRoll--; |
| // update gyro control loop factors |
| Gyro_P_Factor = ((float) FCParam.Gyro_P + 10.0) / 256.0; |
| Gyro_I_Factor = ((float) FCParam.Gyro_I) / 44000; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Digital Control via DubWise |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define KEY_VALUE (FCParam.UserParam1 * 4) // step width |
| 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; |
| ExternStickPitch = (ExternStickPitch * 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) ExternStickYaw = 50;else |
| if(DubWiseKeys[0] & 4) ExternStickYaw =-50;else ExternStickYaw = 0; |
| if(DubWiseKeys[0] & 2) ExternHeightValue++; |
| if(DubWiseKeys[0] & 16) ExternHeightValue--; |
| StickPitch += ExternStickPitch / 8; |
| StickRoll += ExternStickRoll / 8; |
| StickYaw += ExternStickYaw; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Analog control via serial communication |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ExternControl.Config & 0x01 && FCParam.UserParam1 > 128) |
| { |
| StickPitch += (int16_t) ExternControl.Pitch * (int16_t) ParamSet.Stick_P; |
| StickRoll += (int16_t) ExternControl.Roll * (int16_t) ParamSet.Stick_P; |
| StickYaw += ExternControl.Yaw; |
| ExternHeightValue = (int16_t) ExternControl.Height * (int16_t)ParamSet.Height_Gain; |
| if(ExternControl.Thrust < StickThrust) StickThrust = ExternControl.Thrust; |
| } |
| // disable I part of gyro control feedback |
| if(ParamSet.GlobalConfig & CFG_HEADING_HOLD) Gyro_I_Factor = 0; |
| // avoid negative scaling factors |
| if(Gyro_P_Factor < 0) Gyro_P_Factor = 0; |
| if(Gyro_I_Factor < 0) Gyro_I_Factor = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_LEFT) Looping_Left = 1; |
| else |
| { |
| if(Looping_Left) // Hysteresis |
| { |
| if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Left = 0; |
| } |
| } |
| if((PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_RIGHT) Looping_Right = 1; |
| else |
| { |
| if(Looping_Right) // Hysteresis |
| { |
| if(PPM_in[ParamSet.ChannelAssignment[CH_ROLL]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Right = 0; |
| } |
| } |
| if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_UP) Looping_Top = 1; |
| else |
| { |
| if(Looping_Top) // Hysteresis |
| { |
| if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < (ParamSet.LoopThreshold - ParamSet.LoopHysteresis))) Looping_Top = 0; |
| } |
| } |
| if((PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] < -ParamSet.LoopThreshold) && ParamSet.LoopConfig & CFG_LOOP_DOWN) Looping_Down = 1; |
| else |
| { |
| if(Looping_Down) // Hysteresis |
| { |
| if(PPM_in[ParamSet.ChannelAssignment[CH_PITCH]] > -(ParamSet.LoopThreshold - ParamSet.LoopHysteresis)) Looping_Down = 0; |
| } |
| } |
| if(Looping_Left || Looping_Right) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Top || Looping_Down) {Looping_Pitch = 1; Looping_Roll = 0; Looping_Left = 0; Looping_Right = 0;} else Looping_Pitch = 0; |
| } // End of new RC-Values or Emergency Landing |
| if(Looping_Roll) BeepTime = 100; |
| if(Looping_Roll || Looping_Pitch) |
| { |
| if(ThrustMixFraction > ParamSet.LoopThrustLimit) ThrustMixFraction = ParamSet.LoopThrustLimit; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ LED Control on J16/J17 |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| LED1_Time = FCParam.UserParam7; |
| LED2_Time = FCParam.UserParam8; |
| LED_Update(); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // in case of emergency landing |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // set all inputs to save values |
| if(EmergencyLanding) |
| { |
| StickYaw = 0; |
| StickPitch = 0; |
| StickRoll = 0; |
| Gyro_P_Factor = 0.5; |
| Gyro_I_Factor = 0.003; |
| Looping_Roll = 0; |
| Looping_Pitch = 0; |
| MaxStickPitch = 0; |
| MaxStickRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Trim Gyro-Integrals to ACC-Signals |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define BALANCE_NUMBER 256L |
| // sum for averaging |
| MeanIntegralPitch += IntegralPitch; |
| MeanIntegralRoll += IntegralRoll; |
| if(Looping_Pitch || Looping_Roll) // if looping in any direction |
| { |
| // reset averaging for acc and gyro integral as well as gyro integral acc correction |
| MeasurementCounter = 0; |
| IntegralAccPitch = 0; |
| IntegralAccRoll = 0; |
| MeanIntegralPitch = 0; |
| MeanIntegralRoll = 0; |
| Reading_IntegralGyroPitch2 = Reading_IntegralGyroPitch; |
| Reading_IntegralGyroRoll2 = Reading_IntegralGyroRoll; |
| AttitudeCorrectionPitch = 0; |
| AttitudeCorrectionRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Pitch && !Looping_Roll) // if not lopping in any direction |
| { |
| int32_t tmp_long, tmp_long2; |
| // determine the deviation of gyro integral from averaged acceleration sensor |
| tmp_long = (int32_t)(IntegralPitch / ParamSet.GyroAccFactor - (int32_t)Mean_AccPitch); |
| tmp_long /= 16; |
| tmp_long2 = (int32_t)(IntegralRoll / ParamSet.GyroAccFactor - (int32_t)Mean_AccRoll); |
| tmp_long2 /= 16; |
| if((MaxStickPitch > 15) || (MaxStickRoll > 15)) // reduce effect during stick commands |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25) // reduce further if yaw stick is active |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| #define BALANCE 32 |
| // limit correction effect |
| if(tmp_long > BALANCE) tmp_long = BALANCE; |
| if(tmp_long < -BALANCE) tmp_long =-BALANCE; |
| if(tmp_long2 > BALANCE) tmp_long2 = BALANCE; |
| if(tmp_long2 <-BALANCE) tmp_long2 =-BALANCE; |
| // correct current readings |
| Reading_IntegralGyroPitch -= tmp_long; |
| Reading_IntegralGyroRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // MeasurementCounter is incremented in the isr of analog.c |
| if(MeasurementCounter >= BALANCE_NUMBER) // averaging number has reached |
| { |
| static int16_t cnt = 0; |
| static int8_t last_n_p, last_n_n, last_r_p, last_r_n; |
| static int32_t MeanIntegralPitch_old, MeanIntegralRoll_old; |
| // if not lopping in any direction (this should be alwais the case, |
| // because the Measurement counter is reset to 0 if looping in any direction is active.) |
| if(!Looping_Pitch && !Looping_Roll) |
| { |
| // Calculate mean value of the gyro integrals |
| MeanIntegralPitch /= BALANCE_NUMBER; |
| MeanIntegralRoll /= BALANCE_NUMBER; |
| // Calculate mean of the acceleration values |
| IntegralAccPitch = (ParamSet.GyroAccFactor * IntegralAccPitch) / BALANCE_NUMBER; |
| IntegralAccRoll = (ParamSet.GyroAccFactor * IntegralAccRoll ) / BALANCE_NUMBER; |
| // Pitch ++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
| IntegralErrorPitch = (int32_t)(MeanIntegralPitch - (int32_t)IntegralAccPitch); |
| CorrectionPitch = IntegralErrorPitch / ParamSet.GyroAccTrim; |
| AttitudeCorrectionPitch = CorrectionPitch / BALANCE_NUMBER; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Calculate deviation of the averaged gyro integral and the averaged acceleration integral |
| IntegralErrorRoll = (int32_t)(MeanIntegralRoll - (int32_t)IntegralAccRoll); |
| CorrectionRoll = IntegralErrorRoll / ParamSet.GyroAccTrim; |
| AttitudeCorrectionRoll = CorrectionRoll / BALANCE_NUMBER; |
| if((MaxStickPitch > 15) || (MaxStickRoll > 15) || (abs(PPM_in[ParamSet.ChannelAssignment[CH_YAW]]) > 25)) |
| { |
| AttitudeCorrectionPitch /= 2; |
| AttitudeCorrectionRoll /= 2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
| IntegralErrorPitch = IntegralPitch2 - IntegralPitch; |
| Reading_IntegralGyroPitch2 -= IntegralErrorPitch; |
| // deviation of gyro pitch integral (IntegralPitch is corrected by averaged acc sensor) |
| IntegralErrorRoll = IntegralRoll2 - IntegralRoll; |
| Reading_IntegralGyroRoll2 -= IntegralErrorRoll; |
| // DebugOut.Analog[17] = IntegralAccPitch / 26; |
| DebugOut.Analog[18] = IntegralAccRoll / 26; |
| DebugOut.Analog[19] = IntegralErrorPitch;// / 26; |
| DebugOut.Analog[20] = IntegralErrorRoll;// / 26; |
| DebugOut.Analog[21] = MeanIntegralPitch / 26; |
| DebugOut.Analog[22] = MeanIntegralRoll / 26; |
| //DebugOut.Analog[28] = CorrectionPitch; |
| DebugOut.Analog[29] = CorrectionRoll; |
| DebugOut.Analog[30] = AttitudeCorrectionRoll * 10; |
| #define ERROR_LIMIT (BALANCE_NUMBER * 4) |
| #define ERROR_LIMIT2 (BALANCE_NUMBER * 16) |
| #define MOVEMENT_LIMIT 20000 |
| // Pitch +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| CorrectionPitch = 0; |
| if(labs(MeanIntegralPitch_old - MeanIntegralPitch) < MOVEMENT_LIMIT) |
| { |
| if(IntegralErrorPitch > ERROR_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
| CorrectionPitch = IntegralErrorPitch / 8; |
| if(CorrectionPitch > 5000) CorrectionPitch = 5000; |
| AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
| } |
| else last_n_p = 1; |
| } |
| else last_n_p = 0; |
| if(IntegralErrorPitch < -ERROR_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralErrorPitch) / ERROR_LIMIT2; |
| CorrectionPitch = IntegralErrorPitch / 8; |
| if(CorrectionPitch < -5000) CorrectionPitch = -5000; |
| AttitudeCorrectionPitch += CorrectionPitch / BALANCE_NUMBER; |
| } |
| else last_n_n = 1; |
| } |
| else last_n_n = 0; |
| } |
| else cnt = 0; |
| if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| // correct Gyro Offsets |
| if(IntegralErrorPitch > ERROR_LIMIT) AdNeutralPitch += cnt; |
| if(IntegralErrorPitch < -ERROR_LIMIT) AdNeutralPitch -= cnt; |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralErrorPitch) / 4096; |
| CorrectionRoll = 0; |
| if(labs(MeanIntegralRoll_old - MeanIntegralRoll) < MOVEMENT_LIMIT) |
| { |
| if(IntegralErrorRoll > ERROR_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
| CorrectionRoll = IntegralErrorRoll / 8; |
| if(CorrectionRoll > 5000) CorrectionRoll = 5000; |
| AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
| } |
| else last_r_p = 1; |
| } |
| else last_r_p = 0; |
| if(IntegralErrorRoll < -ERROR_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralErrorRoll) / ERROR_LIMIT2; |
| CorrectionRoll = IntegralErrorRoll / 8; |
| if(CorrectionRoll < -5000) CorrectionRoll = -5000; |
| AttitudeCorrectionRoll += CorrectionRoll / BALANCE_NUMBER; |
| } |
| else last_r_n = 1; |
| } |
| else last_r_n = 0; |
| } |
| else cnt = 0; |
| // correct Gyro Offsets |
| if(cnt > ParamSet.DriftComp) cnt = ParamSet.DriftComp; |
| if(IntegralErrorRoll > ERROR_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralErrorRoll < -ERROR_LIMIT) AdNeutralRoll -= cnt; |
| DebugOut.Analog[27] = CorrectionRoll; |
| DebugOut.Analog[23] = AdNeutralPitch;//10*(AdNeutralPitch - StartNeutralPitch); |
| DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| } |
| else // looping is active |
| { |
| AttitudeCorrectionRoll = 0; |
| AttitudeCorrectionPitch = 0; |
| } |
| // if Gyro_I_Factor == 0 , for example at Heading Hold, ignore attitude correction |
| if(!Gyro_I_Factor) |
| { |
| AttitudeCorrectionRoll = 0; |
| AttitudeCorrectionPitch = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MeanIntegralPitch_old = MeanIntegralPitch; |
| MeanIntegralRoll_old = MeanIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // reset variables used for averaging |
| IntegralAccPitch = 0; |
| IntegralAccRoll = 0; |
| MeanIntegralPitch = 0; |
| MeanIntegralRoll = 0; |
| MeasurementCounter = 0; |
| } // end of averaging |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Yawing |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickYaw) > 20 ) // yaw stick is activated |
| { |
| if(!(ParamSet.GlobalConfig & CFG_COMPASS_FIX)) UpdateCompassCourse = 1; |
| } |
| // exponential stick sensitivity in yawring rate |
| tmp_int = (int32_t) ParamSet.Yaw_P * ((int32_t)StickYaw * abs(StickYaw)) / 512L; // expo y = ax + bx² |
| tmp_int += (ParamSet.Yaw_P * StickYaw) / 4; |
| SetPointYaw = tmp_int; |
| // trimm drift of Reading_IntegralGyroYaw with SetPointYaw(StickYaw) |
| Reading_IntegralGyroYaw -= tmp_int; |
| // limit the effect |
| if(Reading_IntegralGyroYaw > 50000) Reading_IntegralGyroYaw = 50000; |
| if(Reading_IntegralGyroYaw <-50000) Reading_IntegralGyroYaw =-50000; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Compass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // compass code is used if Compass option or GPS option is selected |
| if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) || (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
| { |
| static uint8_t updCompass = 0; |
| int16_t w,v; |
| if (!updCompass--) |
| { |
| updCompass = 49; // update only at 2ms*50 = 100ms (10Hz) |
| // get current compass heading (angle between MK head and magnetic north) |
| #ifdef USE_MM3 |
| CompassHeading = MM3_Heading(); |
| #endif |
| #ifdef USE_CMPS03 |
| CompassHeading = CMPS03_Heading(); |
| #endif |
| if (CompassHeading < 0) CompassOffCourse = 0; // disable gyro compass correction on bad compass data |
| else CompassOffCourse = ((540 + CompassHeading - CompassCourse) % 360) - 180; // calc course deviation |
| } |
| // get maximum attitude angle |
| w = abs(IntegralPitch/512); |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; |
| if (w < 25) |
| { |
| if(UpdateCompassCourse) |
| { |
| UpdateCompassCourse = 0; |
| CompassCourse = CompassHeading; |
| CompassOffCourse = 0; |
| } |
| w = (w * FCParam.CompassYawEffect) / 64; |
| w = FCParam.CompassYawEffect - w; |
| if(w > 0) Reading_IntegralGyroYaw += (CompassOffCourse * w) / 32; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // GPS |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ParamSet.GlobalConfig & CFG_GPS_ACTIVE) |
| { |
| GPS_I_Factor = FCParam.UserParam2; |
| GPS_P_Factor = FCParam.UserParam5; |
| GPS_D_Factor = FCParam.UserParam6; |
| if(EmergencyLanding) GPS_Main(230); // enables Comming Home |
| else GPS_Main(Poti3); // behavior controlled by Poti3 |
| } |
| else |
| { |
| GPS_Neutral(); |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerDebugOut--) |
| { |
| TimerDebugOut = 24; // update debug outputs every 25*2ms = 50 ms (20Hz) |
| DebugOut.Analog[0] = IntegralPitch / ParamSet.GyroAccFactor; |
| DebugOut.Analog[1] = IntegralRoll / ParamSet.GyroAccFactor; |
| DebugOut.Analog[2] = Mean_AccPitch; |
| DebugOut.Analog[3] = Mean_AccRoll; |
| DebugOut.Analog[4] = Reading_GyroYaw; |
| DebugOut.Analog[5] = ReadingHeight; |
| DebugOut.Analog[6] = (Reading_Integral_Top / 512); |
| DebugOut.Analog[8] = CompassHeading; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = RC_Quality; |
| //DebugOut.Analog[11] = RC_Quality; |
| //DebugOut.Analog[16] = Mean_AccTop; |
| /* 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] = Reading_GyroPitch; |
| DebugOut.Analog[9] = SetPointHeight; |
| DebugOut.Analog[10] = Reading_IntegralGyroYaw / 128; |
| DebugOut.Analog[10] = FCParam.Gyro_I; |
| DebugOut.Analog[10] = ParamSet.Gyro_I; |
| DebugOut.Analog[9] = CompassOffCourse; |
| DebugOut.Analog[10] = ThrustMixFraction; |
| DebugOut.Analog[3] = HeightD * 32; |
| DebugOut.Analog[4] = HeightControlThrust; |
| */ |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // calculate control feedback from angle (gyro integral) and agular velocity (gyro signal) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Looping_Pitch) Reading_GyroPitch = Reading_GyroPitch * Gyro_P_Factor; |
| else Reading_GyroPitch = IntegralPitch * Gyro_I_Factor + Reading_GyroPitch * Gyro_P_Factor; |
| if(Looping_Roll) Reading_GyroRoll = Reading_GyroRoll * Gyro_P_Factor; |
| else Reading_GyroRoll = IntegralRoll * Gyro_I_Factor + Reading_GyroRoll * Gyro_P_Factor; |
| Reading_GyroYaw = Reading_GyroYaw * (2 * Gyro_P_Factor) + IntegralYaw * Gyro_I_Factor / 2; |
| DebugOut.Analog[25] = IntegralRoll * Gyro_I_Factor; |
| DebugOut.Analog[31] = StickRoll;// / (26*Gyro_I_Factor); |
| DebugOut.Analog[28] = Reading_GyroRoll; |
| // limit control feedback |
| #define MAX_SENSOR 2048 |
| if(Reading_GyroPitch > MAX_SENSOR) Reading_GyroPitch = MAX_SENSOR; |
| if(Reading_GyroPitch < -MAX_SENSOR) Reading_GyroPitch = -MAX_SENSOR; |
| if(Reading_GyroRoll > MAX_SENSOR) Reading_GyroRoll = MAX_SENSOR; |
| if(Reading_GyroRoll < -MAX_SENSOR) Reading_GyroRoll = -MAX_SENSOR; |
| if(Reading_GyroYaw > MAX_SENSOR) Reading_GyroYaw = MAX_SENSOR; |
| if(Reading_GyroYaw < -MAX_SENSOR) Reading_GyroYaw = -MAX_SENSOR; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Height Control |
| // The height control algorithm reduces the thrust but does not increase the thrust. |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // If height control is activated and no emergency landing is active |
| if((ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) && (!EmergencyLanding) ) |
| { |
| int tmp_int; |
| // if height control is activated by an rc channel |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_SWITCH) |
| { // check if parameter is less than activation threshold |
| if(FCParam.MaxHeight < 50) |
| { |
| SetPointHeight = ReadingHeight - 20; // update SetPoint with current reading |
| HeightControlActive = 0; // disable height control |
| } |
| else HeightControlActive = 1; // enable height control |
| } |
| else // no switchable height control |
| { |
| SetPointHeight = ((int16_t) ExternHeightValue + (int16_t) FCParam.MaxHeight) * (int16_t)ParamSet.Height_Gain - 20; |
| HeightControlActive = 1; |
| } |
| // get current height |
| h = ReadingHeight; |
| // if current height is above the setpoint reduce thrust |
| if((h > SetPointHeight) && HeightControlActive) |
| { |
| // ThrustMixFraction - HightDeviation * P - HeightChange * D - ACCTop * DACC |
| // height difference -> P control part |
| h = ((h - SetPointHeight) * (int16_t) FCParam.Height_P) / 16; |
| h = ThrustMixFraction - h; // reduce gas |
| // height gradient --> D control part |
| h -= (HeightD * FCParam.Height_D) / 8; // D control part |
| // acceleration sensor effect |
| tmp_int = ((Reading_Integral_Top / 512) * (int32_t) FCParam.Height_ACC_Effect) / 32; |
| if(tmp_int > 50) tmp_int = 50; |
| if(tmp_int < -50) tmp_int = -50; |
| h -= tmp_int; |
| // update height control thrust |
| HeightControlThrust = (HeightControlThrust*15 + h) / 16; |
| // limit thrust reduction |
| if(HeightControlThrust < ParamSet.Height_MinThrust) |
| { |
| if(ThrustMixFraction >= ParamSet.Height_MinThrust) HeightControlThrust = ParamSet.Height_MinThrust; |
| // allows landing also if thrust stick is reduced below min thrust on height control |
| if(ThrustMixFraction < ParamSet.Height_MinThrust) HeightControlThrust = ThrustMixFraction; |
| } |
| // limit thrust to stick setting |
| if(HeightControlThrust > ThrustMixFraction) HeightControlThrust = ThrustMixFraction; |
| ThrustMixFraction = HeightControlThrust; |
| } |
| } |
| // limit thrust to parameter setting |
| if(ThrustMixFraction > ParamSet.Trust_Max - 20) ThrustMixFraction = ParamSet.Trust_Max - 20; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mixer and PI-Controller |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = ThrustMixFraction; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Yaw-Fraction |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| YawMixFraction = Reading_GyroYaw - SetPointYaw; // yaw controller |
| // limit YawMixFraction |
| if(YawMixFraction > (ThrustMixFraction / 2)) YawMixFraction = ThrustMixFraction / 2; |
| if(YawMixFraction < -(ThrustMixFraction / 2)) YawMixFraction = -(ThrustMixFraction / 2); |
| if(YawMixFraction > ((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = ((ParamSet.Trust_Max - ThrustMixFraction)); |
| if(YawMixFraction < -((ParamSet.Trust_Max - ThrustMixFraction))) YawMixFraction = -((ParamSet.Trust_Max - ThrustMixFraction)); |
| if(ThrustMixFraction < 20) YawMixFraction = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Pitch-Axis |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffPitch = Reading_GyroPitch - (StickPitch - GPS_Pitch); // get difference |
| if(Gyro_I_Factor) SumPitch += IntegralPitch * Gyro_I_Factor - (StickPitch - GPS_Pitch); // I-part for attitude control |
| else SumPitch += DiffPitch; // I-part for head holding |
| if(SumPitch > 16000) SumPitch = 16000; |
| if(SumPitch < -16000) SumPitch = -16000; |
| pd_result = DiffPitch + Ki * SumPitch; // PI-controller for pitch |
| tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
| if(pd_result > tmp_int) pd_result = tmp_int; |
| if(pd_result < -tmp_int) pd_result = -tmp_int; |
| PitchMixFraction = pd_result; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Axis |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = Reading_GyroRoll - (StickRoll - GPS_Roll); // get difference |
| if(Gyro_I_Factor) SumRoll += IntegralRoll * Gyro_I_Factor - (StickRoll - GPS_Roll); // I-part for attitude control |
| else SumRoll += DiffRoll; // I-part for head holding |
| if(SumRoll > 16000) SumRoll = 16000; |
| if(SumRoll < -16000) SumRoll = -16000; |
| pd_result = DiffRoll + Ki * SumRoll; // PI-controller for roll |
| tmp_int = (int32_t)((int32_t)FCParam.DynamicStability * (int32_t)(ThrustMixFraction + abs(YawMixFraction)/2)) / 64; |
| if(pd_result > tmp_int) pd_result = tmp_int; |
| if(pd_result < -tmp_int) pd_result = -tmp_int; |
| RollMixFraction = pd_result; |
| // Calculate Motor Mixes |
| // Motor FrontLeft |
| MotorValue = ThrustMixFraction |
| + PitchMixFraction |
| + RollMixFraction/2 |
| - YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_FrontLeft = MotorValue; |
| // Motor FrontRight |
| MotorValue = ThrustMixFraction |
| + PitchMixFraction |
| - RollMixFraction/2 |
| + YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_FrontRight = MotorValue; |
| // Motor RearLeft |
| MotorValue = ThrustMixFraction |
| - PitchMixFraction |
| + RollMixFraction/2 |
| - YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_RearLeft = MotorValue; |
| // Motor RearRight |
| MotorValue = ThrustMixFraction |
| - PitchMixFraction |
| - RollMixFraction/2 |
| + YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_RearRight= MotorValue; |
| // Motor Left |
| MotorValue = ThrustMixFraction |
| + RollMixFraction |
| + YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Left = MotorValue; |
| // Motor Right |
| MotorValue = ThrustMixFraction |
| - RollMixFraction |
| - YawMixFraction; // Mixer |
| if ((MotorValue < 0)) MotorValue = 0; |
| else if(MotorValue > ParamSet.Trust_Max) MotorValue = ParamSet.Trust_Max; |
| if (MotorValue < ParamSet.Trust_Min) MotorValue = ParamSet.Trust_Min; |
| Motor_Right = MotorValue; |
| } |
| /branches/V0.68d CRK HexaLotte/fc.h |
|---|
| 0,0 → 1,91 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| typedef struct |
| { |
| uint8_t Height_D; |
| uint8_t MaxHeight; |
| uint8_t Height_P; |
| uint8_t Height_ACC_Effect; |
| uint8_t CompassYawEffect; |
| uint8_t Gyro_P; |
| uint8_t Gyro_I; |
| uint8_t Gier_P; |
| uint8_t I_Factor; |
| uint8_t UserParam1; |
| uint8_t UserParam2; |
| uint8_t UserParam3; |
| uint8_t UserParam4; |
| uint8_t UserParam5; |
| uint8_t UserParam6; |
| uint8_t UserParam7; |
| uint8_t UserParam8; |
| uint8_t ServoPitchControl; |
| uint8_t LoopThrustLimit; |
| uint8_t Yaw_PosFeedback; |
| uint8_t Yaw_NegFeedback; |
| uint8_t DynamicStability; |
| } fc_param_t; |
| extern fc_param_t FCParam; |
| extern volatile uint16_t I2CTimeout; |
| // attitude |
| extern volatile int32_t IntegralPitch, IntegralRoll, IntegralYaw; |
| extern volatile int16_t Reading_GyroPitch, Reading_GyroRoll, Reading_GyroYaw; |
| // offsets |
| extern volatile int16_t AdNeutralPitch, AdNeutralRoll, AdNeutralYaw; |
| extern volatile int16_t NeutralAccX, NeutralAccY; |
| extern volatile float NeutralAccZ; |
| extern volatile int32_t Reading_Integral_Top; // calculated in analog.c |
| // compass navigation |
| extern volatile int16_t CompassHeading; |
| extern volatile int16_t CompassCourse; |
| extern volatile int16_t CompassOffCourse; |
| // hight control |
| extern int ReadingHeight; |
| extern int SetPointHeight; |
| // mean accelarations |
| extern volatile int16_t Mean_AccPitch, Mean_AccRoll, Mean_AccTop; |
| // looping params |
| extern long TurnOver180Pitch, TurnOver180Roll; |
| // external control |
| extern int16_t ExternStickPitch, ExternStickRoll, ExternStickYaw; |
| void MotorControl(void); |
| void SendMotorData(void); |
| void CalibMean(void); |
| void Mean(void); |
| void SetNeutral(void); |
| void Beep(uint8_t numbeeps); |
| extern int16_t Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; |
| // setpoints for motors |
| extern volatile uint8_t Motor_FrontLeft, Motor_FrontRight, Motor_RearLeft, Motor_RearRight, Motor_Right, Motor_Left; //used by twimaster isr |
| // current stick values |
| extern int16_t StickPitch, StickRoll, StickYaw; |
| // current stick elongations |
| extern int16_t MaxStickPitch, MaxStickRoll, MaxStickYaw; |
| extern uint8_t MotorsOn; |
| extern uint8_t EmergencyLanding; |
| #endif //_FC_H |
| /branches/V0.68d CRK HexaLotte/fifo.c |
|---|
| 0,0 → 1,28 |
| #include "fifo.h" |
| void fifo_init (fifo_t *f, uint8_t *buffer, const uint8_t size) |
| { |
| f->count = 0; |
| f->pread = f->pwrite = buffer; |
| f->read2end = f->write2end = f->size = size; |
| } |
| uint8_t fifo_put (fifo_t *f, const uint8_t data) |
| { |
| return _inline_fifo_put (f, data); |
| } |
| uint8_t fifo_get_wait (fifo_t *f) |
| { |
| while (!f->count); |
| return _inline_fifo_get (f); |
| } |
| int16_t fifo_get_nowait (fifo_t *f) |
| { |
| if (!f->count) return -1; |
| return (int16_t) _inline_fifo_get (f); |
| } |
| /branches/V0.68d CRK HexaLotte/fifo.h |
|---|
| 0,0 → 1,98 |
| #ifndef _FIFO_H_ |
| #define _FIFO_H_ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| // the fifo object |
| typedef struct |
| { |
| uint8_t volatile count; // # number of characters in FIFO |
| uint8_t size; // buffer size |
| uint8_t *pread; // read pointer |
| uint8_t *pwrite; // write pointer |
| uint8_t read2end, write2end; // number of characters for buffer overflow for read/write pointers |
| } fifo_t; |
| /* |
| The initialization of the FIFO sets the read/write pointers etc.. |
| The FIFO uses the buffer 'buf' which byte length must 'size'. |
| */ |
| extern void fifo_init (fifo_t*, uint8_t* buf, const uint8_t size); |
| /* |
| Puts a byte into the FIFO. Returns 1 on success ans 0 in case of FIFO overflow. |
| */ |
| extern uint8_t fifo_put (fifo_t*, const uint8_t data); |
| /* |
| Get the next byte out of the FIFO. If the FIFO is empty the function blocks |
| until the next byte is put into the FIFO. |
| */ |
| extern uint8_t fifo_get_wait (fifo_t*); |
| /* |
| Get the next byte from the FIFO as int. Returns -1 if the FIFO is empty. |
| */ |
| extern int16_t fifo_get_nowait (fifo_t*); |
| /* |
| The same like fifo_put |
| */ |
| static inline uint8_t _inline_fifo_put (fifo_t *f, const uint8_t data) |
| { |
| if (f->count >= f->size) |
| return 0; |
| uint8_t * pwrite = f->pwrite; |
| *(pwrite++) = data; |
| uint8_t write2end = f->write2end; |
| if (--write2end == 0) |
| { |
| write2end = f->size; |
| pwrite -= write2end; |
| } |
| f->write2end = write2end; |
| f->pwrite = pwrite; |
| uint8_t sreg = SREG; |
| cli(); |
| f->count++; |
| SREG = sreg; |
| return 1; |
| } |
| /* |
| Get the next byte from FIFO. Before this functionis called |
| it must be checked that there is a byte in the FIFO to get. |
| */ |
| static inline uint8_t _inline_fifo_get (fifo_t *f) |
| { |
| uint8_t *pread = f->pread; |
| uint8_t data = *(pread++); |
| uint8_t read2end = f->read2end; |
| if (--read2end == 0) |
| { |
| read2end = f->size; |
| pread -= read2end; |
| } |
| f->pread = pread; |
| f->read2end = read2end; |
| uint8_t sreg = SREG; |
| cli(); |
| f->count--; |
| SREG = sreg; |
| return data; |
| } |
| #endif /* _FIFO_H_ */ |
| /branches/V0.68d CRK HexaLotte/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 CRK HexaLotte/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/V0.68d CRK HexaLotte/gps.h |
|---|
| 0,0 → 1,19 |
| #ifndef _GPS_H |
| #define _GPS_H |
| #include <inttypes.h> |
| extern int16_t GPS_Pitch; |
| extern int16_t GPS_Roll; |
| extern uint8_t GPS_P_Factor; |
| extern uint8_t GPS_I_Factor; |
| extern uint8_t GPS_D_Factor; |
| extern void GPS_Main(uint8_t ctrl); |
| extern void GPS_SetHomePosition(void); |
| extern void GPS_ClearHomePosition(void); |
| extern void GPS_Neutral(void); |
| #endif //_GPS_H |
| /branches/V0.68d CRK HexaLotte/led.c |
|---|
| 0,0 → 1,42 |
| #include <inttypes.h> |
| #include "led.h" |
| #include "fc.h" |
| uint16_t LED1_Time = 0; |
| uint16_t LED2_Time = 0; |
| // initializes the LED control outputs J16, J17 |
| void LED_Init(void) |
| { |
| // set PC2 & PC3 as output (control of J16 & J17) |
| DDRC |= (1<<DDC2)|(1<<DDC3); |
| J16_OFF; |
| J17_OFF; |
| } |
| // called in UpdateMotors() every 2ms |
| void LED_Update(void) |
| { |
| static uint16_t J16_blinkcount = 0; |
| static uint16_t J17_blinkcount = 0; |
| if (LED1_Time < 20) J16_ON; |
| else if(LED1_Time < 220) |
| { |
| if((2 * J16_blinkcount) < LED1_Time) J16_ON; |
| else J16_OFF; |
| if(J16_blinkcount++ >= LED1_Time) J16_blinkcount = 0; |
| } |
| else J16_ON; |
| if (LED2_Time < 20) J17_OFF; |
| else if(LED2_Time < 220) |
| { |
| if((2 * J17_blinkcount) < LED2_Time) J17_ON; |
| else J17_OFF; |
| if(J17_blinkcount++ >= LED2_Time) J17_blinkcount = 0; |
| } |
| else J17_OFF; |
| } |
| /branches/V0.68d CRK HexaLotte/led.h |
|---|
| 0,0 → 1,22 |
| #ifndef _LED_H |
| #define _LED_H |
| #include <avr/io.h> |
| #define J16_ON PORTC |= (1<<PORTC2) |
| #define J16_OFF PORTC &= ~(1<<PORTC2) |
| #define J16_TOGGLE PORTC ^= (1<<PORTC2) |
| #define J17_ON PORTC |= (1<<PORTC3) |
| #define J17_OFF PORTC &= ~(1<<PORTC3) |
| #define J17_TOGGLE PORTC ^= (1<<PORTC3) |
| extern uint16_t LED1_Time; |
| extern uint16_t LED2_Time; |
| extern void LED_Init(void); |
| extern void LED_Update(void); |
| #endif //_LED_H |
| /branches/V0.68d CRK HexaLotte/main.c |
|---|
| 0,0 → 1,281 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/boot.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "main.h" |
| #include "timer0.h" |
| #include "timer2.h" |
| #include "uart.h" |
| #if defined (__AVR_ATmega644P__) |
| #include "uart1.h" |
| #endif |
| #include "led.h" |
| #include "menu.h" |
| #include "ubx.h" |
| #include "fc.h" |
| #include "rc.h" |
| #include "analog.h" |
| #include "printf_P.h" |
| //#include "spi.h" |
| #ifdef USE_MM3 |
| #include "mm3.h" |
| #endif |
| #ifdef USE_CMPS03 |
| #include "cmps03.h" |
| #endif |
| #include "twimaster.h" |
| #include "eeprom.h" |
| #include "_Settings.h" |
| uint8_t BoardRelease = 10; |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| // disable interrupts global |
| cli(); |
| // get board release |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // make some delay |
| if(PINB & (1<<PINB0)) BoardRelease = 11; |
| else BoardRelease = 10; |
| // set LED ports as output |
| DDRB |= (1<<DDB1)|(1<<DDB0); |
| ROT_ON; |
| GRN_OFF; |
| // disable watchdog |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| BeepTime = 2000; |
| PPM_in[CH_THRUST] = 0; |
| StickYaw = 0; |
| StickRoll = 0; |
| StickPitch = 0; |
| ROT_OFF; |
| // initalize modules |
| LED_Init(); |
| TIMER0_Init(); |
| TIMER2_Init(); |
| USART0_Init(); |
| #if defined (__AVR_ATmega644P__) |
| if (BoardRelease == 11) USART1_Init(); |
| #endif |
| RC_Init(); |
| ADC_Init(); |
| I2C_Init(); |
| #ifdef USE_MM3 |
| MM3_Init(); |
| #endif |
| #ifdef USE_CMPS03 |
| CMPS03_Init(); |
| #endif |
| //SPI_MasterInit(); |
| // enable interrupts global |
| sei(); |
| VersionInfo.Major = VERSION_MAJOR; |
| VersionInfo.Minor = VERSION_MINOR; |
| VersionInfo.PCCompatible = VERSION_COMPATIBLE; |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",BoardRelease/10,BoardRelease%10, VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX + 'a'); |
| printf("\n\r=============================="); |
| GRN_ON; |
| // Parameter set handling |
| ParamSet_Init(); |
| if(GetParamWord(PID_ACC_PITCH) > 1023) |
| { |
| printf("\n\rACC not calibrated!"); |
| } |
| //wait for a short time (otherwise the RC channel check won't work below) |
| timer = SetDelay(500); |
| while(!CheckDelay(timer)); |
| #ifdef USE_MM3 |
| printf("\n\rSupport for Compass Module MM3"); |
| //Compass calibration? |
| if(PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] > 100 && PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100) |
| { |
| printf("\n\rCalibrating Compass"); |
| MM3_Calibrate(); |
| } |
| #endif |
| #ifdef USE_CMPS03 |
| printf("\n\rSupport for Compass Module CMPS03"); |
| #endif |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| { |
| printf("\n\rCalibrating air pressure sensor.."); |
| timer = SetDelay(1000); |
| SearchAirPressureOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| #if defined (__AVR_ATmega644P__) |
| if(BoardRelease == 10) |
| { |
| printf("\n\rSupport for GPS at 1st UART"); |
| } |
| else |
| { |
| printf("\n\rSupport for GPS at 2nd UART"); |
| } |
| #else // (__AVR_ATmega644__) |
| printf("\n\rSupport for GPS at 1st UART"); |
| #endif |
| SetNeutral(); |
| ROT_OFF; |
| BeepTime = 2000; |
| ExternControl.Digital[0] = 0x55; |
| printf("\n\rControl: "); |
| if (ParamSet.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LCD_Clear(); |
| I2CTimeout = 5000; |
| while (1) |
| { |
| if(UpdateMotor) // control interval |
| { |
| //SPI_TransmitByte(); //# |
| UpdateMotor=0; // reset Flag, is enabled every 2 ms by isr of timer0 |
| //PORTD |= (1<<PORTD4); |
| MotorControl(); |
| //PORTD &= ~(1<<PORTD4); |
| SendMotorData(); |
| ROT_OFF; |
| if(PcAccess) PcAccess--; |
| else |
| { |
| DubWiseKeys[0] = 0; |
| DubWiseKeys[1] = 0; |
| ExternControl.Config = 0; |
| ExternStickPitch= 0; |
| ExternStickRoll = 0; |
| ExternStickYaw = 0; |
| } |
| if(!I2CTimeout) |
| { |
| I2CTimeout = 5; |
| I2C_Reset(); |
| if((BeepModulation == 0xFFFF) && MotorsOn) |
| { |
| BeepTime = 10000; // 1 second |
| BeepModulation = 0x0080; |
| } |
| } |
| else |
| { |
| I2CTimeout--; |
| ROT_OFF; |
| } |
| if(SIO_DEBUG && !UpdateMotor) |
| { |
| TransmitTxData(); |
| ProcessRxData(); |
| } |
| else ProcessRxData(); |
| if(CheckDelay(timer)) |
| { |
| if(UBat < ParamSet.LowVoltageWarning) |
| { |
| if(BeepModulation == 0xFFFF) |
| { |
| BeepTime = 6000; // 0.6 seconds |
| BeepModulation = 0x0300; |
| } |
| } |
| //SPI_StartTransmitPacket();//# |
| timer = SetDelay(100); |
| } |
| } |
| } |
| return (1); |
| } |
| /branches/V0.68d CRK HexaLotte/main.h |
|---|
| 0,0 → 1,40 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| #include <avr/io.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 |
| #define F_CPU SYSCLK |
| // neue Hardware |
| #define ROT_OFF {if(BoardRelease == 10) PORTB &=~(1<<PORTB0); else PORTB |= (1<<PORTB0);} |
| #define ROT_ON {if(BoardRelease == 10) PORTB |= (1<<PORTB0); else PORTB &=~(1<<PORTB0);} |
| #define ROT_FLASH PORTB ^= (1<<PORTB0) |
| #define GRN_OFF PORTB &=~(1<<PORTB1) |
| #define GRN_ON PORTB |= (1<<PORTB1) |
| #define GRN_FLASH PORTB ^= (1<<PORTB1) |
| #include <inttypes.h> |
| extern uint8_t BoardRelease; |
| #endif //_MAIN_H |
| /branches/V0.68d CRK HexaLotte/makefile |
|---|
| 0,0 → 1,449 |
| #-------------------------------------------------------------------- |
| # MCU name |
| #MCU = atmega644 |
| MCU = atmega644p |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 0 |
| VERSION_MINOR = 68 |
| VERSION_INDEX = 3 |
| VERSION_COMPATIBLE = 7 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| #OPTIONS |
| #COMPASS = _MM3 |
| #COMPASS = _CMPS03 |
| #EXT = WALTER |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644$(COMPASS) |
| endif |
| ifeq ($(MCU), atmega644p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA644p$(COMPASS) |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| ifeq ($(COMPASS), MM3) |
| CFLAGS += -DUSE_MM3 |
| endif |
| ifeq ($(COMPASS), CMPS03) |
| CFLAGS += -DUSE_CMPS03 |
| 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$(VERSION_MAJOR)_$(VERSION_MINOR)a |
| endif |
| ifeq ($(VERSION_INDEX), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b |
| endif |
| ifeq ($(VERSION_INDEX), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c |
| endif |
| ifeq ($(VERSION_INDEX), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d |
| endif |
| ifeq ($(VERSION_INDEX), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e |
| endif |
| ifeq ($(VERSION_INDEX), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f |
| endif |
| ifeq ($(VERSION_INDEX), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g |
| endif |
| ifeq ($(VERSION_INDEX), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)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 led.c |
| SRC += twimaster.c rc.c fc.c GPS.c spi.c eeprom.c mymath.c ubx.c fifo.c |
| ifeq ($(MCU), atmega644p) |
| SRC += uart1.c |
| endif |
| ifeq ($(COMPASS), MM3) |
| SRC += mm3.c |
| endif |
| ifeq ($(COMPASS), CMPS03) |
| SRC += cmps03.c |
| endif |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_COMPATIBLE=$(VERSION_COMPATIBLE) -DVERSION_INDEX=$(VERSION_INDEX) |
| ifeq ($(COMPASS), MM3) |
| CFLAGS += -DUSE_MM3 |
| endif |
| ifeq ($(COMPASS), CMPS03) |
| CFLAGS += -DUSE_CMPS03 |
| endif |
| ifeq ($(EXT), WALTER) |
| CFLAGS += -DUSE_WALTER_EXT |
| endif |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = stk200 |
| #AVRDUDE_PROGRAMMER = ponyser |
| AVRDUDE_PROGRAMMER = avrispv2 |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| #AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| AVRDUDE_PORT = usb # programmer connected to USB |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| #avrdude -c avrispv2 -P usb -p m32 -U flash:w:blink.hex |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/V0.68d CRK HexaLotte/menu.c |
|---|
| 0,0 → 1,236 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <inttypes.h> |
| #include "main.h" |
| #include "eeprom.h" |
| #include "timer2.h" |
| #include "fc.h" |
| #include "rc.h" |
| #include "uart.h" |
| #include "printf_P.h" |
| #include "analog.h" |
| #ifdef USE_MM3 |
| #include "mm3.h" |
| #endif |
| #include "ubx.h" |
| #include "_Settings.h" |
| #define ARRAYSIZE 10 |
| uint8_t Array[ARRAYSIZE] = {1,2,3,4,5,6,7,8,9,10}; |
| #define DISPLAYBUFFSIZE 80 |
| int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
| uint8_t DispPtr = 0; |
| uint8_t RemoteButtons = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| /************************************/ |
| /* Clear LCD Buffer */ |
| /************************************/ |
| void LCD_Clear(void) |
| { |
| uint8_t i; |
| for( i = 0; i < DISPLAYBUFFSIZE; i++) DisplayBuff[i] = ' '; |
| } |
| /************************************/ |
| /* Update Menu on LCD */ |
| /************************************/ |
| // Display with 20 characters in 4 lines |
| void LCD_PrintMenu(void) |
| { |
| #ifdef USE_MM3 |
| static uint8_t MaxMenuItem = 14; |
| #else |
| static uint8_t MaxMenuItem = 12; |
| #endif |
| static uint8_t MenuItem=0; |
| // if KEY1 is activated goto previous menu item |
| if(RemoteButtons & KEY1) |
| { |
| if(MenuItem) MenuItem--; |
| else MenuItem = MaxMenuItem; |
| LCD_Clear(); |
| RemotePollDisplayLine = -1; |
| } |
| // if KEY2 is activated goto next menu item |
| if(RemoteButtons & KEY2) |
| { |
| if (MenuItem == MaxMenuItem) MenuItem = 0; |
| else MenuItem++; |
| LCD_Clear(); |
| RemotePollDisplayLine = -1; |
| } |
| // if KEY1 and KEY2 is activated goto initial menu item |
| if((RemoteButtons & KEY1) && (RemoteButtons & KEY2)) MenuItem = 0; |
| // print menu item number in the upper right corner |
| if(MenuItem < 10) |
| { |
| LCD_printfxy(17,0,"[%i]",MenuItem); |
| } |
| else |
| { |
| LCD_printfxy(16,0,"[%i]",MenuItem); |
| } |
| switch(MenuItem) |
| { |
| case 0:// Version Info Menu Item |
| LCD_printfxy(0,0,"+ MikroKopter +"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR,VERSION_INDEX+'a'); |
| LCD_printfxy(0,2,"Setting: %d ", GetActiveParamSet()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| break; |
| case 1:// Height Control Menu Item |
| if(ParamSet.GlobalConfig & CFG_HEIGHT_CONTROL) |
| { |
| LCD_printfxy(0,0,"Height: %5i",ReadingHeight); |
| LCD_printfxy(0,1,"Set Point: %5i",SetPointHeight); |
| LCD_printfxy(0,2,"Air Press.:%5i",ReadingAirPressure); |
| LCD_printfxy(0,3,"Offset :%5i",PressureSensorOffset); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"No "); |
| LCD_printfxy(0,2,"Height Control"); |
| } |
| break; |
| case 2:// Attitude Menu Item |
| LCD_printfxy(0,0,"Attitude"); |
| LCD_printfxy(0,1,"Pitch: %5i",IntegralPitch/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Compass: %5i",CompassHeading); |
| break; |
| case 3:// Remote Control Channel Menu Item |
| LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
| break; |
| case 4:// Remote Control Mapping Menu Item |
| LCD_printfxy(0,0,"Pi:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_PITCH]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_THRUST]],PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]],PPM_in[ParamSet.ChannelAssignment[CH_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]],PPM_in[ParamSet.ChannelAssignment[CH_POTI4]]); |
| break; |
| case 5:// Gyro Sensor Menu Item |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| if(BoardRelease == 10) |
| { |
| LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueGyrPitch - AdNeutralPitch, AdNeutralPitch/2); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueGyrRoll - AdNeutralRoll, AdNeutralRoll/2); |
| LCD_printfxy(0,3,"Yaw %4i (%3i)",Reading_GyroYaw, AdNeutralYaw/2); |
| } |
| break; |
| case 6:// Acceleration Sensor Menu Item |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Pitch %4i (%3i)",AdValueAccPitch, NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdValueAccRoll, NeutralAccY); |
| LCD_printfxy(0,3,"Height %4i (%3i)",Mean_AccTop, (int)NeutralAccZ); |
| break; |
| case 7:// Accumulator Voltage / Remote Control Level |
| LCD_printfxy(0,1,"Voltage: %5i",UBat); |
| LCD_printfxy(0,2,"RC-Level: %5i",RC_Quality); |
| break; |
| case 8:// Compass Menu Item |
| LCD_printfxy(0,0,"Compass "); |
| LCD_printfxy(0,1,"Course: %5i",CompassCourse); |
| LCD_printfxy(0,2,"Heading: %5i",CompassHeading); |
| LCD_printfxy(0,3,"OffCourse: %5i",CompassOffCourse); |
| break; |
| case 9:// Poti Menu Item |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Extesion |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Extesion |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Extesion |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Extesion |
| break; |
| case 10:// Servo Menu Item |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoPitchControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoPitchMin, ParamSet.ServoPitchMax); |
| break; |
| case 11://Extern Control |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Pi:%4i Ro:%4i ",ExternControl.Pitch, ExternControl.Roll); |
| LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Thrust, ExternControl.Yaw); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
| break; |
| case 12://GPS Lat/Lon coords |
| if (GPSInfo.status == INVALID) |
| { |
| LCD_printfxy(0,0,"No data available!"); |
| } |
| else |
| { |
| switch (GPSInfo.satfix) |
| { |
| case SATFIX_NONE: |
| LCD_printfxy(0,0,"Sats: %d Fix: No", GPSInfo.satnum); |
| break; |
| case SATFIX_2D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 2D", GPSInfo.satnum); |
| break; |
| case SATFIX_3D: |
| LCD_printfxy(0,0,"Sats: %d Fix: 3D", GPSInfo.satnum); |
| break; |
| default: |
| LCD_printfxy(0,0,"Sats: %d Fix: ??", GPSInfo.satnum); |
| break; |
| } |
| int16_t i1,i2,i3; |
| i1 = (int16_t)(GPSInfo.longitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.longitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.longitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,1,"Lon: %d.%.3d%.3d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.latitude/10000000L); |
| i2 = abs((int16_t)((GPSInfo.latitude%10000000L)/10000L)); |
| i3 = abs((int16_t)(((GPSInfo.latitude%10000000L)%10000L)/10L)); |
| LCD_printfxy(0,2,"Lat: %d.%.3d%.3d deg",i1, i2, i3); |
| i1 = (int16_t)(GPSInfo.altitude/1000L); |
| i2 = abs((int16_t)(GPSInfo.altitude%1000L)); |
| LCD_printfxy(0,3,"Alt: %d.%.3d m",i1, i2); |
| } |
| break; |
| #ifdef USE_MM3 |
| case 13:// MM3 Kompass |
| LCD_printfxy(0,0,"MM3 Offset"); |
| LCD_printfxy(0,1,"X_Offset: %3i",MM3_calib.X_off); |
| LCD_printfxy(0,2,"Y_Offset: %3i",MM3_calib.Y_off); |
| LCD_printfxy(0,3,"Z_Offset: %3i",MM3_calib.Z_off); |
| break; |
| case 14://MM3 Range |
| LCD_printfxy(0,0,"MM3 Range"); |
| LCD_printfxy(0,1,"X_Range: %4i",MM3_calib.X_range); |
| LCD_printfxy(0,2,"Y_Range: %4i",MM3_calib.Y_range); |
| LCD_printfxy(0,3,"Z_Range: %4i",MM3_calib.Z_range); |
| break; |
| #endif |
| default: MaxMenuItem = MenuItem - 1; |
| MenuItem = 0; |
| break; |
| } |
| RemoteButtons = 0; |
| } |
| /branches/V0.68d CRK HexaLotte/menu.h |
|---|
| 0,0 → 1,16 |
| #ifndef _MENU_H |
| #define _MENU_H |
| #include <inttypes.h> |
| #define DISPLAYBUFFSIZE 80 |
| extern void LCD_PrintMenu(void); |
| extern void LCD_Clear(void); |
| extern int8_t DisplayBuff[DISPLAYBUFFSIZE]; |
| extern uint8_t DispPtr; |
| extern uint8_t RemoteButtons; |
| #endif //_MENU_H |
| /branches/V0.68d CRK HexaLotte/mm3.c |
|---|
| 0,0 → 1,415 |
| /* |
| Copyright 2008, by Killagreg |
| This program (files mm3.c and mm3.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Please note: The original implementation was done by Niklas Nold. |
| All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "mm3.h" |
| #include "main.h" |
| #include "mymath.h" |
| #include "fc.h" |
| #include "timer0.h" |
| #include "rc.h" |
| #include "eeprom.h" |
| #include "printf_P.h" |
| #define MAX_AXIS_VALUE 500 |
| typedef struct |
| { |
| uint8_t STATE; |
| uint16_t DRDY; |
| uint8_t AXIS; |
| int16_t x_axis; |
| int16_t y_axis; |
| int16_t z_axis; |
| } MM3_working_t; |
| // MM3 State Machine |
| #define MM3_STATE_RESET 0 |
| #define MM3_STATE_START_TRANSFER 1 |
| #define MM3_STATE_WAIT_DRDY 2 |
| #define MM3_STATE_DRDY 3 |
| #define MM3_STATE_BYTE2 4 |
| #define MM3_X_AXIS 0x01 |
| #define MM3_Y_AXIS 0x02 |
| #define MM3_Z_AXIS 0x03 |
| #define MM3_PERIOD_32 0x00 |
| #define MM3_PERIOD_64 0x10 |
| #define MM3_PERIOD_128 0x20 |
| #define MM3_PERIOD_256 0x30 |
| #define MM3_PERIOD_512 0x40 |
| #define MM3_PERIOD_1024 0x50 |
| #define MM3_PERIOD_2048 0x60 |
| #define MM3_PERIOD_4096 0x70 |
| MM3_calib_t MM3_calib; |
| volatile MM3_working_t MM3; |
| volatile uint8_t MM3_Timeout = 0; |
| /*********************************************/ |
| /* Initialize Interface to MM3 Compass */ |
| /*********************************************/ |
| void MM3_Init(void) |
| { |
| uint8_t sreg = SREG; |
| cli(); |
| // Configure Pins for SPI |
| // set SCK (PB7), MOSI (PB5) as output |
| DDRB |= (1<<DDB7)|(1<<DDB5); |
| // set MISO (PB6) as input |
| DDRB &= ~(1<<DDB6); |
| #ifdef USE_WALTER_EXT // walthers board |
| // Output Pins (J9)PC6->MM3_SS ,(J8)PB2->MM3_RESET |
| DDRB |= (1<<DDB2); |
| DDRC |= (1<<DDC6); |
| // set pins permanent to low |
| PORTB &= ~((1<<PORTB2)); |
| PORTC &= ~((1<<PORTC6)); |
| #else // killagregs board |
| // Output Pins PC4->MM3_SS ,PC5->MM3_RESET |
| DDRC |= (1<<DDC4)|(1<<DDC5); |
| // set pins permanent to low |
| PORTC &= ~((1<<PORTC4)|(1<<PORTC5)); |
| #endif |
| // Initialize SPI-Interface |
| // Enable interrupt (SPIE=1) |
| // Enable SPI bus (SPE=1) |
| // MSB transmitted first (DORD = 0) |
| // Master SPI Mode (MSTR=1) |
| // Clock polarity low when idle (CPOL=0) |
| // Clock phase sample at leading edge (CPHA=0) |
| // Clock rate = SYSCLK/128 (SPI2X=0, SPR1=1, SPR0=1) 20MHz/128 = 156.25kHz |
| SPCR = (1<<SPIE)|(1<<SPE)|(0<<DORD)|(1<<MSTR)|(0<<CPOL)|(0<<CPHA)|(1<<SPR1)|(1<<SPR0); |
| SPSR &= ~(1<<SPI2X); |
| // Init Statemachine |
| MM3.AXIS = MM3_X_AXIS; |
| MM3.STATE = MM3_STATE_RESET; |
| // Read calibration from EEprom |
| MM3_calib.X_off = (int8_t)GetParamByte(PID_MM3_X_OFF); |
| MM3_calib.Y_off = (int8_t)GetParamByte(PID_MM3_Y_OFF); |
| MM3_calib.Z_off = (int8_t)GetParamByte(PID_MM3_Z_OFF); |
| MM3_calib.X_range = (int16_t)GetParamWord(PID_MM3_X_RANGE); |
| MM3_calib.Y_range = (int16_t)GetParamWord(PID_MM3_Y_RANGE); |
| MM3_calib.Z_range = (int16_t)GetParamWord(PID_MM3_Z_RANGE); |
| MM3_Timeout = 0; |
| SREG = sreg; |
| } |
| /*********************************************/ |
| /* Get Data from MM3 */ |
| /*********************************************/ |
| void MM3_Update(void) // called every 102.4 µs by timer 0 ISR |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_STATE_RESET: |
| #ifdef USE_WALTER_EXT // walthers board |
| PORTC &= ~(1<<PORTC6); // select slave |
| PORTB |= (1<<PORTB2); // PB2 to High, MM3 Reset |
| #else |
| PORTC &= ~(1<<PORTC4); // select slave |
| PORTC |= (1<<PORTC5); // PC5 to High, MM3 Reset |
| #endif |
| MM3.STATE = MM3_STATE_START_TRANSFER; |
| return; |
| case MM3_STATE_START_TRANSFER: |
| #ifdef USE_WALTER_EXT // walthers board |
| PORTB &= ~(1<<PORTB2); // PB2 auf Low (was 102.4 µs at high level) |
| #else |
| PORTC &= ~(1<<PORTC5); // PC4 auf Low (was 102.4 µs at high level) |
| #endif |
| // write to SPDR triggers automatically the transfer MOSI MISO |
| // MM3 Period, + AXIS code |
| switch(MM3.AXIS) |
| { |
| case MM3_X_AXIS: |
| SPDR = MM3_PERIOD_256 + MM3_X_AXIS; |
| break; |
| case MM3_Y_AXIS: |
| SPDR = MM3_PERIOD_256 + MM3_Y_AXIS; |
| break; |
| case MM3_Z_AXIS: |
| SPDR = MM3_PERIOD_256 + MM3_Z_AXIS; |
| break; |
| default: |
| MM3.AXIS = MM3_X_AXIS; |
| MM3.STATE = MM3_STATE_RESET; |
| return; |
| } |
| // DRDY line is not connected, therefore |
| // wait before reading data back |
| MM3.DRDY = SetDelay(8); // wait 8ms for data ready |
| MM3.STATE = MM3_STATE_WAIT_DRDY; |
| return; |
| case MM3_STATE_WAIT_DRDY: |
| if (CheckDelay(MM3.DRDY)) |
| { |
| // write something into SPDR to trigger data reading |
| SPDR = 0x00; |
| MM3.STATE = MM3_STATE_DRDY; |
| } |
| return; |
| } |
| } |
| /*********************************************/ |
| /* Interrupt SPI transfer complete */ |
| /*********************************************/ |
| ISR(SPI_STC_vect) |
| { |
| static int8_t tmp; |
| int16_t value; |
| switch (MM3.STATE) |
| { |
| // 1st byte received |
| case MM3_STATE_DRDY: |
| tmp = SPDR; // store 1st byte |
| SPDR = 0x00; // trigger transfer of 2nd byte |
| MM3.STATE = MM3_STATE_BYTE2; |
| return; |
| case MM3_STATE_BYTE2: // 2nd byte received |
| value = (int16_t)tmp; // combine the 1st and 2nd byte to a word |
| value <<= 8; // shift 1st byte to MSB-Position |
| value |= (int16_t)SPDR; // add 2nd byte |
| if(abs(value) < MAX_AXIS_VALUE) // ignore spikes |
| { |
| switch (MM3.AXIS) |
| { |
| case MM3_X_AXIS: |
| MM3.x_axis = value; |
| MM3.AXIS = MM3_Y_AXIS; |
| break; |
| case MM3_Y_AXIS: |
| MM3.y_axis = value; |
| MM3.AXIS = MM3_Z_AXIS; |
| break; |
| case MM3_Z_AXIS: |
| MM3.z_axis = value; |
| MM3.AXIS = MM3_X_AXIS; |
| break; |
| default: |
| MM3.AXIS = MM3_X_AXIS; |
| break; |
| } |
| } |
| #ifdef USE_WALTER_EXT // walthers board |
| PORTC |= (1<<PORTC6); // deselect slave |
| #else |
| PORTC |= (1<<PORTC4); // deselect slave |
| #endif |
| MM3.STATE = MM3_STATE_RESET; |
| // Update timeout is called every 102.4 µs. |
| // It takes 2 cycles to write a measurement data request for one axis and |
| // at at least 8 ms / 102.4 µs = 79 cycles to read the requested data back. |
| // I.e. 81 cycles * 102.4 µs = 8.3ms per axis. |
| // The two function accessing the MM3 Data - MM3_Calibrate() and MM3_Heading() - |
| // decremtent the MM3_Timeout every 100 ms. |
| // incrementing the counter by 1 every 8.3 ms is sufficient to avoid a timeout. |
| if ((MM3.x_axis != MM3.y_axis) || (MM3.x_axis != MM3.z_axis) || (MM3.y_axis != MM3.z_axis)) |
| { // if all axis measurements give diffrent readings the data should be valid |
| if(MM3_Timeout < 20) MM3_Timeout++; |
| } |
| else // something is very strange here |
| { |
| if(MM3_Timeout ) MM3_Timeout--; |
| } |
| return; |
| default: |
| return; |
| } |
| } |
| /*********************************************/ |
| /* Calibrate Compass */ |
| /*********************************************/ |
| void MM3_Calibrate(void) |
| { |
| static uint8_t debugcounter = 0; |
| int16_t x_min = 0, x_max = 0, y_min = 0, y_max = 0, z_min = 0, z_max = 0; |
| uint8_t measurement = 50, beeper = 0; |
| uint16_t timer; |
| GRN_ON; |
| ROT_OFF; |
| // get maximum and minimum reading of all axis |
| while (measurement) |
| { |
| // reset range markers if yawstick ist leftmost |
| if(PPM_in[ParamSet.ChannelAssignment[CH_YAW]] > 100) |
| { |
| x_min = 0; |
| x_max = 0; |
| y_min = 0; |
| y_max = 0; |
| z_min = 0; |
| z_max = 0; |
| } |
| if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
| else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
| if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
| else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
| if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
| else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
| if (!beeper) |
| { |
| ROT_FLASH; |
| GRN_FLASH; |
| BeepTime = 50; |
| beeper = 50; |
| } |
| beeper--; |
| // loop with period of 10 ms / 100 Hz |
| timer = SetDelay(10); |
| while(!CheckDelay(timer)); |
| if(debugcounter++ > 30) |
| { |
| printf("\n\rXMin:%4d, XMax:%4d, YMin:%4d, YMax:%4d, ZMin:%4d, ZMax:%4d",x_min,x_max,y_min,y_max,z_min,z_max); |
| debugcounter = 0; |
| } |
| // If thrust is less than 100, stop calibration with a delay of 0.5 seconds |
| if (PPM_in[ParamSet.ChannelAssignment[CH_THRUST]] < 100) measurement--; |
| } |
| // Rage of all axis |
| MM3_calib.X_range = (x_max - x_min); |
| MM3_calib.Y_range = (y_max - y_min); |
| MM3_calib.Z_range = (z_max - z_min); |
| // Offset of all axis |
| MM3_calib.X_off = (x_max + x_min) / 2; |
| MM3_calib.Y_off = (y_max + y_min) / 2; |
| MM3_calib.Z_off = (z_max + z_min) / 2; |
| // save to EEProm |
| SetParamByte(PID_MM3_X_OFF, (uint8_t)MM3_calib.X_off); |
| SetParamByte(PID_MM3_Y_OFF, (uint8_t)MM3_calib.Y_off); |
| SetParamByte(PID_MM3_Z_OFF, (uint8_t)MM3_calib.Z_off); |
| SetParamWord(PID_MM3_X_RANGE, (uint16_t)MM3_calib.X_range); |
| SetParamWord(PID_MM3_Y_RANGE, (uint16_t)MM3_calib.Y_range); |
| SetParamWord(PID_MM3_Z_RANGE, (uint16_t)MM3_calib.Z_range); |
| } |
| /*********************************************/ |
| /* Calculate north direction (heading) */ |
| /*********************************************/ |
| int16_t MM3_Heading(void) |
| { |
| int32_t sin_pitch, cos_pitch, sin_roll, cos_roll, sin_yaw, cos_yaw; |
| int32_t Hx, Hy, Hz, Hx_corr, Hy_corr; |
| int16_t angle; |
| uint16_t div_factor; |
| int16_t heading; |
| if (MM3_Timeout) |
| { |
| // Offset correction and normalization (values of H are +/- 512) |
| Hx = (((int32_t)(MM3.x_axis - MM3_calib.X_off)) * 1024) / (int32_t)MM3_calib.X_range; |
| Hy = (((int32_t)(MM3.y_axis - MM3_calib.Y_off)) * 1024) / (int32_t)MM3_calib.Y_range; |
| Hz = (((int32_t)(MM3.z_axis - MM3_calib.Z_off)) * 1024) / (int32_t)MM3_calib.Z_range; |
| // Compensate the angle of the MM3-arrow to the head of the MK by a yaw rotation transformation |
| // assuming the MM3 board is mounted parallel to the frame. |
| // User Param 4 is used to define the positive angle from the MM3-arrow to the MK heading |
| // in a top view counter clockwise direction. |
| // North is in opposite direction of the small arrow on the MM3 board. |
| // Therefore 180 deg must be added to that angle. |
| angle = ((int16_t)ParamSet.UserParam4 + 180); |
| // wrap angle to interval of 0°- 359° |
| angle += 360; |
| angle %= 360; |
| sin_yaw = (int32_t)(c_sin_8192(angle)); |
| cos_yaw = (int32_t)(c_cos_8192(angle)); |
| Hx_corr = Hx; |
| Hy_corr = Hy; |
| // rotate |
| Hx = (Hx_corr * cos_yaw - Hy_corr * sin_yaw) / 8192; |
| Hy = (Hx_corr * sin_yaw + Hy_corr * cos_yaw) / 8192; |
| // tilt compensation |
| // calibration factor for transforming Gyro Integrals to angular degrees |
| div_factor = (uint16_t)ParamSet.UserParam3 * 8; |
| // calculate sinus cosinus of pitch and tilt angle |
| angle = (IntegralPitch/div_factor); |
| sin_pitch = (int32_t)(c_sin_8192(angle)); |
| cos_pitch = (int32_t)(c_cos_8192(angle)); |
| angle = (IntegralRoll/div_factor); |
| sin_roll = (int32_t)(c_sin_8192(angle)); |
| cos_roll = (int32_t)(c_cos_8192(angle)); |
| Hx_corr = Hx * cos_pitch; |
| Hx_corr -= Hz * sin_pitch; |
| Hx_corr /= 8192; |
| Hy_corr = Hy * cos_roll; |
| Hy_corr += Hz * sin_roll; |
| Hy_corr /= 8192; |
| // calculate Heading |
| heading = c_atan2(Hy_corr, Hx_corr); |
| // atan returns angular range from -180 deg to 180 deg in counter clockwise notation |
| // but the compass course is defined in a range from 0 deg to 360 deg clockwise notation. |
| if (heading < 0) heading = -heading; |
| else heading = 360 - heading; |
| } |
| else // MM3_Timeout = 0 i.e now new data from external board |
| { |
| if(!BeepTime) BeepTime = 100; // make noise to signal the compass problem |
| heading = -1; |
| } |
| return heading; |
| } |
| /branches/V0.68d CRK HexaLotte/mm3.h |
|---|
| 0,0 → 1,32 |
| #ifndef _MM3_H |
| #define _MM3_H |
| #include <inttypes.h> |
| typedef struct |
| { |
| int8_t X_off; |
| int8_t Y_off; |
| int8_t Z_off; |
| int16_t X_range; |
| int16_t Y_range; |
| int16_t Z_range; |
| } MM3_calib_t; |
| extern MM3_calib_t MM3_calib; |
| // Initialization of the MM3 communication |
| void MM3_Init(void); |
| // should be called cyclic to get actual compass reading |
| void MM3_Update(void); |
| // this function calibrates the MM3 |
| // and returns immediately if the communication to the MM3-Board is broken. |
| void MM3_Calibrate(void); |
| // calculates the current compass heading in a range from 0 to 360 deg. |
| // returns -1 if no compass data are available |
| int16_t MM3_Heading(void); |
| #endif //_MM3_H |
| /branches/V0.68d CRK HexaLotte/mymath.c |
|---|
| 0,0 → 1,99 |
| #include <stdlib.h> |
| #include <avr/pgmspace.h> |
| #include "mymath.h" |
| // discrete mathematics |
| // Sinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
| const uint16_t pgm_sinlookup[91] PROGMEM = {0, 143, 286, 429, 571, 714, 856, 998, 1140, 1282, 1423, 1563, 1703, 1843, 1982, 2120, 2258, 2395, 2531, 2667, 2802, 2936, 3069, 3201, 3332, 3462, 3591, 3719, 3846, 3972, 4096, 4219, 4341, 4462, 4581, 4699, 4815, 4930, 5043, 5155, 5266, 5374, 5482, 5587, 5691, 5793, 5893, 5991, 6088, 6183, 6275, 6366, 6455, 6542, 6627, 6710, 6791, 6870, 6947, 7022, 7094, 7165, 7233, 7299, 7363, 7424, 7484, 7541, 7595, 7648, 7698, 7746, 7791, 7834, 7875, 7913, 7949, 7982, 8013, 8041, 8068, 8091, 8112, 8131, 8147, 8161, 8172, 8181, 8187, 8191, 8192}; |
| int16_t c_sin_8192(int16_t angle) |
| { |
| int8_t m,n; |
| int16_t sinus; |
| // avoid negative angles |
| if (angle < 0) |
| { |
| m = -1; |
| angle = abs(angle); |
| } |
| else m = +1; |
| // fold angle to intervall 0 to 359 |
| angle %= 360; |
| // check quadrant |
| if (angle <= 90) n=1; // first quadrant |
| else if ((angle > 90) && (angle <= 180)) {angle = 180 - angle; n = 1;} // second quadrant |
| else if ((angle > 180) && (angle <= 270)) {angle = angle - 180; n = -1;} // third quadrant |
| else {angle = 360 - angle; n = -1;} //fourth quadrant |
| // get lookup value |
| sinus = pgm_read_word(&pgm_sinlookup[angle]); |
| // calculate sinus value |
| return (sinus * m * n); |
| } |
| // Cosinus with argument in degree at an angular resolution of 1 degree and a discretisation of 13 bit. |
| int16_t c_cos_8192(int16_t angle) |
| { |
| return (c_sin_8192(90 - angle)); |
| } |
| // Arcustangens returns degree in a range of +/. 180 deg |
| const uint8_t pgm_atanlookup[346] PROGMEM = {0,1,2,3,4,4,5,6,7,8,9,10,11,11,12,13,14,15,16,17,17,18,19,20,21,21,22,23,24,24,25,26,27,27,28,29,29,30,31,31,32,33,33,34,35,35,36,36,37,37,38,39,39,40,40,41,41,42,42,43,43,44,44,45,45,45,46,46,47,47,48,48,48,49,49,50,50,50,51,51,51,52,52,52,53,53,53,54,54,54,55,55,55,55,56,56,56,57,57,57,57,58,58,58,58,59,59,59,59,60,60,60,60,60,61,61,61,61,62,62,62,62,62,63,63,63,63,63,63,64,64,64,64,64,64,65,65,65,65,65,65,66,66,66,66,66,66,66,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
| int16_t c_atan2(int16_t y, int16_t x) |
| { |
| int16_t index, angle; |
| int8_t m; |
| if (!x && !y) return 0; //atan2(0, 0) is undefined |
| if (y < 0) m = -1; |
| else m = 1; |
| if (!x) return (90 * m); // atan2(y,0) = +/- 90 deg |
| index = (int16_t)(((int32_t)y * 64) / x);// calculate index for lookup table |
| if (index < 0) index = -index; |
| if (index < 346) angle = pgm_read_byte(&pgm_atanlookup[index]); // lookup for 0 deg to 79 deg |
| else if (index > 7334) angle = 90; // limit is 90 deg |
| else if (index > 2444) angle = 89; // 89 deg to 80 deg is mapped via intervalls |
| else if (index > 1465) angle = 88; |
| else if (index > 1046) angle = 87; |
| else if (index > 813) angle = 86; |
| else if (index > 664) angle = 85; |
| else if (index > 561) angle = 84; |
| else if (index > 486) angle = 83; |
| else if (index > 428) angle = 82; |
| else if (index > 382) angle = 81; |
| else angle = 80; // (index>345) |
| if (x > 0) return (angle * m); // 1st and 4th quadrant |
| else if ((x < 0) && (m > 0)) return (180 - angle); // 2nd quadrant |
| else return (angle - 180); // ( (x < 0) && (y < 0)) 3rd quadrant |
| } |
| // integer square root |
| uint32_t c_sqrt(uint32_t number) |
| { |
| uint32_t s1, s2; |
| uint8_t iter = 0; |
| // initialization of iteration |
| s2 = number; |
| do // iterative formula to solve x^2 - n = 0 |
| { |
| s1 = s2; |
| s2 = number / s1; |
| s2 += s1; |
| s2 /= 2; |
| iter++; |
| //if(iter > 40) break; |
| }while( ( (s1-s2) > 1) && (iter < 40)); |
| return s2; |
| } |
| /branches/V0.68d CRK HexaLotte/mymath.h |
|---|
| 0,0 → 1,11 |
| #ifndef _MYMATH_H |
| #define _MYMATH_H |
| #include <inttypes.h> |
| extern int16_t c_sin_8192(int16_t angle); |
| extern int16_t c_cos_8192(int16_t angle); |
| extern int16_t c_atan2(int16_t y, int16_t x); |
| extern uint32_t c_sqrt(uint32_t number); |
| #endif // _MYMATH_H |
| /branches/V0.68d CRK HexaLotte/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 CRK HexaLotte/printf_P.c |
|---|
| 0,0 → 1,483 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "old_macros.h" |
| #include "printf_P.h" |
| #include "menu.h" |
| #include "uart.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 CRK HexaLotte/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 CRK HexaLotte/rc.c |
|---|
| 0,0 → 1,180 |
| /*####################################################################################### |
| 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 <stdlib.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "rc.h" |
| #include "main.h" |
| volatile int16_t PPM_in[15]; //PPM24 supports 12 channels per frame |
| volatile int16_t PPM_diff[15]; |
| volatile uint8_t NewPpmData = 1; |
| volatile int16_t RC_Quality = 0; |
| volatile uint8_t NewRCFrames = 0; |
| /***************************************************************/ |
| /* 16bit timer 1 is used to decode the PPM-Signal */ |
| /***************************************************************/ |
| void RC_Init (void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| // PPM-signal is connected to the Input Capture Pin (PD6) of timer 1 |
| DDRD &= ~(1<<DDD6); |
| PORTD |= (1<<PORTD6); |
| // Channel 5,6,7 is decoded to servo signals at pin PD5 (J3), PD4(J4), PD3(J5) |
| // set as output |
| DDRD |= (1<<DDD5)|(1<<DDD4); |
| // low level |
| PORTD &= ~((1<<PORTD5)|(1<<PORTD4)); |
| // PD3 can't be used in FC 1.1 if 2nd UART is activated |
| // because TXD1 is at that port |
| if(BoardRelease == 10) |
| { |
| DDRD |= (1<<PORTD3); |
| PORTD &= ~(1<<PORTD3); |
| } |
| // Timer/Counter1 Control Register A, B, C |
| // Normal Mode (bits: WGM13=0, WGM12=0, WGM11=0, WGM10=0) |
| // Compare output pin A & B is disabled (bits: COM1A1=0, COM1A0=0, COM1B1=0, COM1B0=0) |
| // Set clock source to SYSCLK/64 (bit: CS12=0, CS11=1, CS10=1) |
| // Enable input capture noise cancler (bit: ICNC1=1) |
| // Trigger on positive edge of the input capture pin (bit: ICES1=1), |
| // Therefore the counter incremets at a clock of 20 MHz/64 = 312.5 kHz or 3.2µs |
| // The longest period is 0xFFFF / 312.5 kHz = 0.209712 s. |
| TCCR1A &= ~((1<<COM1A1)|(1<<COM1A0)|(1<<COM1B1)|(1<<COM1B0)|(1<<WGM11)|(1<<WGM10)); |
| TCCR1B &= ~((1<<WGM13)|(1<<WGM12)|(1<<CS12)); |
| TCCR1B |= (1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1); |
| TCCR1C &= ~((1<<FOC1A)|(1<<FOC1B)); |
| // Timer/Counter1 Interrupt Mask Register |
| // Enable Input Capture Interrupt (bit: ICIE1=1) |
| // Disable Output Compare A & B Match Interrupts (bit: OCIE1B=0, OICIE1A=0) |
| // Enable Overflow Interrupt (bit: TOIE1=0) |
| TIMSK1 &= ~((1<<OCIE1B)|(1<<OCIE1A)); |
| TIMSK1 |= (1<<ICIE1)|(1<<TOIE1); |
| RC_Quality = 0; |
| SREG = sreg; |
| } |
| // happens every 0.209712 s. |
| // check for at least one new frame per timer overflow (timeout) |
| ISR(TIMER1_OVF_vect) |
| { |
| if (NewRCFrames == 0) RC_Quality -= RC_Quality/8; |
| NewRCFrames = 0; |
| } |
| /********************************************************************/ |
| /* Every time a positive edge is detected at PD6 */ |
| /********************************************************************/ |
| /* t-Frame |
| <-----------------------------------------------------------------------> |
| ____ ______ _____ ________ ______ sync gap ____ |
| | | | | | | | | | | | |
| | | | | | | | | | | | |
| ___| |_| |_| |_| |_.............| |________________| |
| <-----><-------><------><--------> <------> <--- |
| t0 t1 t2 t4 tn t0 |
| The PPM-Frame length is 22.5 ms. |
| Channel high pulse width range is 0.7 ms to 1.7 ms completed by an 0.3 ms low pulse. |
| The mininimum time delay of two events coding a channel is ( 0.7 + 0.3) ms = 1 ms. |
| The maximum time delay of two events coding a chanel is ( 1.7 + 0.3) ms = 2 ms. |
| The minimum duration of all channels at minimum value is 8 * 1 ms = 8 ms. |
| The maximum duration of all channels at maximum value is 8 * 2 ms = 16 ms. |
| The remaining time of (22.5 - 8 ms) ms = 14.5 ms to (22.5 - 16 ms) ms = 6.5 ms is |
| the syncronization gap. |
| */ |
| ISR(TIMER1_CAPT_vect) // typical rate of 1 ms to 2 ms |
| { |
| int16_t signal = 0, tmp; |
| static int16_t index; |
| static uint16_t oldICR1 = 0; |
| // 16bit Input Capture Register ICR1 contains the timer value TCNT1 |
| // at the time the edge was detected |
| // calculate the time delay to the previous event time which is stored in oldICR1 |
| // calculatiing the difference of the two uint16_t and converting the result to an int16_t |
| // implicit handles a timer overflow 65535 -> 0 the right way. |
| signal = (uint16_t) ICR1 - oldICR1; |
| oldICR1 = ICR1; |
| //sync gap? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| // if a sync gap happens and there where at least 4 channels decoded before |
| // then the NewPpmData flag is reset indicating valid data in the PPM_in[] array. |
| if(index >= 4) |
| { |
| NewPpmData = 0; // Null means NewData for the first 4 channels |
| NewRCFrames++; |
| } |
| // synchronize channel index |
| index = 1; |
| } |
| else // within the PPM frame |
| { |
| if(index < 14) // PPM24 supports 12 channels |
| { |
| // check for valid signal length (0.8 ms < signal < 2.1984 ms) |
| // signal range is from 1.0ms/3.2us = 312 to 2.0ms/3.2us = 625 |
| if((signal > 250) && (signal < 687)) |
| { |
| // shift signal to zero symmetric range -154 to 159 |
| signal -= 466; // offset of 1.4912 ms ??? (469 * 3.2µs = 1.5008 ms) |
| // check for stable signal |
| if(abs(signal-PPM_in[index]) < 6) |
| { |
| if(RC_Quality < 200) RC_Quality +=10; |
| } |
| // calculate exponential history for signal |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| // calculate signal difference on good signal level |
| if(RC_Quality >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; // cut off lower 3 bit for nois reduction |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; // update channel value |
| } |
| index++; // next channel |
| // demux sum signal for channels 5 to 7 to J3, J4, J5 |
| if(index == 5) PORTD |= (1<<PORTD5); else PORTD &= ~(1<<PORTD5); |
| if(index == 6) PORTD |= (1<<PORTD4); else PORTD &= ~(1<<PORTD4); |
| if(BoardRelease == 10) |
| { |
| if(index == 7) PORTD |= (1<<PORTD3); else PORTD &= ~(1<<PORTD3); |
| } |
| } |
| } |
| if(RC_Quality) RC_Quality--; |
| } |
| /branches/V0.68d CRK HexaLotte/rc.h |
|---|
| 0,0 → 1,11 |
| #ifndef _RC_H |
| #define _RC_H |
| #include <inttypes.h> |
| extern void RC_Init (void); |
| extern volatile int16_t PPM_in[15]; // the RC-Signal |
| extern volatile int16_t PPM_diff[15]; // the differentiated RC-Signal |
| extern volatile uint8_t NewPpmData; // 0 indicates a new recieved PPM Frame |
| extern volatile int16_t RC_Quality; // rc signal quality indicator (0 to 200) |
| #endif //_RC_H |
| /branches/V0.68d CRK HexaLotte/spi.c |
|---|
| 0,0 → 1,114 |
| // ######################## SPI - FlightCtrl ################### |
| #include "main.h" |
| #include "spi.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.IntegralPitch = 12345; |
| ToNaviCtrl.IntegralRoll = 56789; |
| ToNaviCtrl.StickPitch = 100; |
| ToNaviCtrl.StickRoll = 150;//(char) StickRoll; |
| ToNaviCtrl.StickYaw = 200;//(char) StickYaw; |
| } |
| //------------------------------------------------------ |
| 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_Pitch; |
| DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll; |
| DebugOut.Analog[23] = FromNaviCtrl.CompassHeading; |
| */ |
| //---- |
| 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.IntegralPitch = (int) (IntegralPitch >> 4); |
| ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4); |
| ToNaviCtrl.StickPitch = 4; |
| ToNaviCtrl.StickRoll = 5;//(char) StickRoll; |
| ToNaviCtrl.StickYaw = 6;//(char) StickYaw; |
| sei(); |
| */ |
| } |
| #endif |
| /branches/V0.68d CRK HexaLotte/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 IntegralPitch; |
| int IntegralRoll; |
| char StickPitch,StickRoll,StickYaw; |
| unsigned char ChkSum; |
| }; |
| struct str_FromNaviCtrl |
| { |
| unsigned int Dummy; |
| unsigned char Comp; |
| int GPS_Pitch; |
| int GPS_Roll; |
| int CompassHeading; |
| }; |
| #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 CRK HexaLotte/timer0.c |
|---|
| 0,0 → 1,184 |
| #include <inttypes.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "eeprom.h" |
| #include "analog.h" |
| #include "main.h" |
| #include "fc.h" |
| #ifdef USE_MM3 |
| #include "mm3.h" |
| #endif |
| #ifdef USE_CMPS03 |
| #include "cmps03.h" |
| #endif |
| volatile uint16_t CountMilliseconds = 0; |
| volatile uint8_t UpdateMotor = 0; |
| volatile uint16_t cntKompass = 0; |
| volatile uint16_t BeepTime = 0; |
| volatile uint16_t BeepModulation = 0xFFFF; |
| /*****************************************************/ |
| /* Initialize Timer 0 */ |
| /*****************************************************/ |
| // timer 0 is used for the PWM generation to control the offset voltage at the air pressure sensor |
| // Its overflow interrupt routine is used to generate the beep signal and the flight control motor update rate |
| void TIMER0_Init(void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| // configure speaker port as output |
| if(BoardRelease == 10) |
| { // Speaker at PD2 |
| DDRD |= (1<<DDD2); |
| PORTD &= ~(1<<PORTD2); |
| } |
| else |
| { // Speaker at PC7 |
| DDRC |= (1<<DDC7); |
| PORTC &= ~(1<<PORTC7); |
| } |
| // set PB3 and PB4 as output for the PWM used as aoffset for the pressure sensor |
| DDRB |= (1<<DDB4)|(1<<DDB3); |
| PORTB &= ~((1<<PORTB4)|(1<<PORTB3)); |
| if(BoardRelease == 10) |
| { |
| DDRD |= (1<<DDD2); |
| PORTD &= ~(1<<PORTD2); |
| } |
| else |
| { |
| DDRC |= (1<<DDC7); |
| PORTC &= ~(1<<PORTC7); |
| } |
| // 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) |
| { |
| BeepTime--; // decrement BeepTime |
| if(BeepTime & BeepModulation) Beeper_On = 1; |
| else Beeper_On = 0; |
| } |
| else // beeper off if duration is over |
| { |
| Beeper_On = 0; |
| BeepModulation = 0xFFFF; |
| } |
| // if beeper is on |
| if(Beeper_On) |
| { |
| // set speaker port to high |
| if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
| else PORTC |= (1<<PORTC7); // Speaker at PC7 |
| } |
| else // beeper is off |
| { |
| // set speaker port to low |
| if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
| else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
| } |
| // update compass value if this option is enabled in the settings |
| if((ParamSet.GlobalConfig & CFG_COMPASS_ACTIVE) || (ParamSet.GlobalConfig & CFG_GPS_ACTIVE)) |
| { |
| #ifdef USE_MM3 |
| MM3_Update(); // read out mm3 board |
| #endif |
| #ifdef USE_CMPS03 |
| CMPS03_Update(); // read out cmps03 pwm |
| #endif |
| } |
| } |
| // ----------------------------------------------------------------------- |
| uint16_t SetDelay (uint16_t t) |
| { |
| return(CountMilliseconds + t + 1); |
| } |
| // ----------------------------------------------------------------------- |
| int8_t CheckDelay(uint16_t t) |
| { |
| return(((t - CountMilliseconds) & 0x8000) >> 9); // check sign bit |
| } |
| // ----------------------------------------------------------------------- |
| 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 CRK HexaLotte/timer0.h |
|---|
| 0,0 → 1,19 |
| #ifndef _TIMER0_H |
| #define _TIMER0_H |
| #include <inttypes.h> |
| extern volatile uint16_t CountMilliseconds; |
| extern volatile uint8_t UpdateMotor; |
| extern volatile uint16_t cntKompass; |
| extern volatile uint16_t BeepModulation; |
| extern volatile uint16_t BeepTime; |
| extern void TIMER0_Init(void); |
| extern void Delay_ms(uint16_t w); |
| extern void Delay_ms_Mess(uint16_t w); |
| extern uint16_t SetDelay (uint16_t t); |
| extern int8_t CheckDelay (uint16_t t); |
| #endif //_TIMER0_H |
| /branches/V0.68d CRK HexaLotte/timer2.c |
|---|
| 0,0 → 1,104 |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "fc.h" |
| #include "eeprom.h" |
| volatile int16_t ServoValue = 0; |
| /*****************************************************/ |
| /* Initialize Timer 2 */ |
| /*****************************************************/ |
| // The timer 2 is used to generate the PWM at PD7 (J7) |
| // to control a camera servo for pitch compensation. |
| void TIMER2_Init(void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| // set PD7 as output of the PWM for pitch servo |
| DDRD |=(1<<DDD7); |
| PORTD |= (1<<PORTD7); |
| // Timer/Counter 2 Control Register A |
| // Waveform Generation Mode is Fast PWM (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 1) |
| // PD7: Clear OC2B on Compare Match, set OC2B at BOTTOM, non inverting PWM (Bits: COM2A1 = 1, COM2A0 = 0) |
| // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
| TCCR2A &= ~((1<<COM2B1)|(1<<COM2B0)|(1<<COM2A0)); |
| TCCR2A |= (1<<COM2A1)|(1<<WGM21)|(1<<WGM20); |
| // Timer/Counter 2 Control Register B |
| // Set clock divider for timer 2 to SYSKLOCK/256 = 20MHz / 256 = 78.128 kHz |
| // The timer increments from 0x00 to 0xFF with an update rate of 78.128 kHz or 12.8 us |
| // hence the timer overflow interrupt frequency is 78.128 kHz / 256 = 305.176 Hz or 3.276 ms |
| // divider 256 (Bits: CS022 = 1, CS21 = 1, CS20 = 0) |
| TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS20)|(1<<WGM22)); |
| TCCR2B |= (1<<CS22)|(1<<CS21); |
| // Initialize the Output Compare Register A used for PWM generation on port PD7. |
| OCR2A = 10; //10 * 12.8us = 1.28 ms high time |
| // Initialize the Timer/Counter 2 Register |
| TCNT2 = 0; |
| // Timer/Counter 2 Interrupt Mask Register |
| // Enable timer output compare match A Interrupt only |
| TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
| TIMSK2 |= (1<<OCIE2A); |
| SREG = sreg; |
| } |
| /*****************************************************/ |
| /* Control Servo Position */ |
| /*****************************************************/ |
| ISR(TIMER2_COMPA_vect) // every OCR2A * 12.8 us (compare match) |
| { |
| static uint8_t timer = 10; |
| if(!timer--) |
| { |
| // enable PWM on PD7 in non inverting mode |
| TCCR2A &= ~(0<<COM2A0); |
| TCCR2A |= (1<<COM2A1); |
| ServoValue = FCParam.ServoPitchControl; |
| // inverting movment of servo |
| if(ParamSet.ServoPitchCompInvert & 0x01) |
| { |
| ServoValue += ((int32_t) ParamSet.ServoPitchComp * (IntegralPitch / 128)) / 512; |
| } |
| else // non inverting movement of servo |
| { |
| ServoValue -= ((int32_t) ParamSet.ServoPitchComp * (IntegralPitch / 128)) / 512; |
| } |
| // limit servo value to its parameter range definition |
| if(ServoValue < ParamSet.ServoPitchMin) |
| { |
| ServoValue = ParamSet.ServoPitchMin; |
| } |
| else if(ServoValue > ParamSet.ServoPitchMax) |
| { |
| ServoValue = ParamSet.ServoPitchMax; |
| } |
| // update PWM |
| OCR2A = ServoValue; |
| timer = ParamSet.ServoPitchRefresh; |
| } |
| else |
| { |
| // disable PWM at PD7 |
| TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)); |
| // set PD7 to low |
| PORTD &= ~(1<<PORTD7); |
| } |
| } |
| /branches/V0.68d CRK HexaLotte/timer2.h |
|---|
| 0,0 → 1,12 |
| #ifndef _TIMER2_H |
| #define _TIMER2_H |
| #include <inttypes.h> |
| extern volatile int16_t ServoValue; |
| extern void TIMER2_Init(void); |
| #endif //_TIMER2_H |
| /branches/V0.68d CRK HexaLotte/twimaster.c |
|---|
| 0,0 → 1,190 |
| /*############################################################################ |
| ############################################################################*/ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "main.h" |
| #include "twimaster.h" |
| #include "fc.h" |
| volatile uint8_t twi_state = 0; |
| volatile uint8_t motor = 0; |
| volatile uint8_t motor_rx[12]; |
| /**************************************************/ |
| /* Initialize I2C (TWI) */ |
| /**************************************************/ |
| void I2C_Init(void) |
| { |
| uint8_t sreg = SREG; |
| cli(); |
| // SDA is INPUT |
| DDRC &= ~(1<<DDC1); |
| // SCL is output |
| DDRC |= (1<<DDC0); |
| // pull up SDA |
| PORTC |= (1<<PORTC0)|(1<<PORTC1); |
| // TWI Status Register |
| // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
| TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
| // set TWI Bit Rate Register |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| SREG = sreg; |
| } |
| /****************************************/ |
| /* Start I2C */ |
| /****************************************/ |
| void I2C_Start(void) |
| { |
| // TWI Control Register |
| // clear TWI interrupt flag (TWINT=1) |
| // disable TWI Acknowledge Bit (TWEA = 0) |
| // enable TWI START Condition Bit (TWSTA = 1), MASTER |
| // disable TWI STOP Condition Bit (TWSTO = 0) |
| // disable TWI Write Collision Flag (TWWC = 0) |
| // enable i2c (TWIE = 1) |
| // enable TWI Interrupt (TWIE = 1) |
| TWCR = (1<<TWINT) | (1<<TWSTA) | (1<<TWEN) | (1<<TWIE); |
| } |
| /****************************************/ |
| /* Stop I2C */ |
| /****************************************/ |
| void I2C_Stop(void) |
| { |
| // TWI Control Register |
| // clear TWI interrupt flag (TWINT=1) |
| // disable TWI Acknowledge Bit (TWEA = 0) |
| // diable TWI START Condition Bit (TWSTA = 1), no MASTER |
| // enable TWI STOP Condition Bit (TWSTO = 1) |
| // disable TWI Write Collision Flag (TWWC = 0) |
| // enable i2c (TWIE = 1) |
| // disable TWI Interrupt (TWIE = 0) |
| TWCR = (1<<TWINT) | (1<<TWSTO) | (1<<TWEN); |
| } |
| /****************************************/ |
| /* Reset I2C */ |
| /****************************************/ |
| void I2C_Reset(void) |
| { |
| // stop i2c bus |
| I2C_Stop(); |
| twi_state = 0; |
| motor = TWDR; // ?? |
| motor = 0; |
| TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| I2C_Init(); |
| I2C_Start(); |
| I2C_WriteByte(0); |
| } |
| /****************************************/ |
| /* Write to I2C */ |
| /****************************************/ |
| void I2C_WriteByte(int8_t byte) |
| { |
| // move byte to send into TWI Data Register |
| TWDR = byte; |
| // clear interrupt flag (TWINT = 1) |
| // enable i2c bus (TWEN = 1) |
| // enable intterupt (TWIW = 1) |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| /****************************************/ |
| /* Receive byte and send ACK */ |
| /****************************************/ |
| void I2C_ReceiveByte(void) |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA); |
| } |
| /****************************************/ |
| /* I2C receive last byte and send no ACK*/ |
| /****************************************/ |
| void I2C_ReceiveLastByte(void) |
| { |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| } |
| /****************************************/ |
| /* I2C ISR */ |
| /****************************************/ |
| ISR (TWI_vect) |
| { |
| static uint8_t motorread = 0; |
| switch (twi_state++) // First i2s_start from SendMotorData() |
| { |
| // Master Transmit |
| case 0: // Send SLA-W |
| I2C_WriteByte(0x52+(motor*2)); |
| break; |
| case 1: // Send Data to Salve |
| switch(motor++) |
| { |
| case 0: |
| I2C_WriteByte(Motor_FrontLeft); |
| break; |
| case 1: |
| I2C_WriteByte(Motor_RearRight); |
| break; |
| case 2: |
| I2C_WriteByte(Motor_FrontRight); |
| break; |
| case 3: |
| I2C_WriteByte(Motor_RearLeft); |
| break; |
| case 4: |
| I2C_WriteByte(Motor_Right); |
| break; |
| case 5: |
| I2C_WriteByte(Motor_Left); |
| break; |
| } |
| break; |
| case 2: // repeat case 0+1 for all Slaves |
| if (motor<6) twi_state = 0; |
| I2C_Start(); // Repeated start -> switch salve or switch Master Transmit -> Master Receive |
| break; |
| // Master Receive |
| case 3: // Send SLA-R |
| I2C_WriteByte(0x53+(motorread*2)); |
| break; |
| case 4: |
| //Transmit 1st byte |
| I2C_ReceiveByte(); |
| break; |
| case 5: //Read 1st byte and transmit 2nd Byte |
| motor_rx[motorread] = TWDR; |
| I2C_ReceiveLastByte(); |
| break; |
| case 6: |
| //Read 2nd byte |
| motor_rx[motorread+6] = TWDR; |
| motorread++; |
| if (motorread > 5) motorread=0; |
| default: |
| I2C_Stop(); |
| twi_state = 0; |
| I2CTimeout = 10; |
| motor = 0; |
| } |
| } |
| /branches/V0.68d CRK HexaLotte/twimaster.h |
|---|
| 0,0 → 1,33 |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| + |
| +#include <inttypes.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 volatile uint8_t twi_state; |
| +extern volatile uint8_t motor; |
| +extern volatile uint8_t motorread; |
| +extern volatile uint8_t motor_rx[12]; |
| + |
| +extern void I2C_Init (void); // Initialize I2C |
| +extern void I2C_Start (void); // Start I2C |
| +extern void I2C_Stop (void); // Stop I2C |
| +extern void I2C_WriteByte (int8_t byte); // Write 1 Byte |
| +extern void I2C_Reset(void); // Reset I2C |
| + |
| +#endif |
| /branches/V0.68d CRK HexaLotte/uart.c |
|---|
| 0,0 → 1,464 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <avr/wdt.h> |
| #include "eeprom.h" |
| #include "main.h" |
| #include "menu.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "fc.h" |
| #include "_Settings.h" |
| #include "rc.h" |
| #include "ubx.h" |
| #define FALSE 0 |
| #define TRUE 1 |
| //int8_t test __attribute__ ((section (".noinit"))); |
| uint8_t DebugGetRequest = 0, DebugDisplayRequest = 0, DebugDataRequest = 0, GetVersionRequest = 0; |
| volatile uint8_t txd_buffer[TXD_BUFFER_LEN]; |
| volatile uint8_t rxd_buffer_locked = FALSE; |
| volatile uint8_t rxd_buffer[RXD_BUFFER_LEN]; |
| volatile uint8_t txd_complete = TRUE; |
| volatile uint8_t ReceivedBytes = 0; |
| uint8_t RemotePollDisplayLine = 0; |
| uint8_t NurKanalAnforderung = 0; |
| uint8_t DebugTextAnforderung = 255; |
| uint8_t PcAccess = 100; |
| uint8_t MotorTest[4] = {0,0,0,0}; |
| uint8_t DubWiseKeys[4] = {0,0,0,0}; |
| uint8_t MySlaveAddr = 0; |
| uint8_t ConfirmFrame; |
| DebugOut_t DebugOut; |
| ExternControl_t ExternControl; |
| VersionInfo_t VersionInfo; |
| const uint8_t ANALOG_TEXT[32][16] = |
| { |
| //1234567890123456 |
| "IntegralPitch ", //0 |
| "IntegralRoll ", |
| "AccPitch ", |
| "AccRoll ", |
| "GyroYaw ", |
| "ReadingHeight ", //5 |
| "AccZ ", |
| "Thrust ", |
| "CompassHeading ", |
| "Voltage ", |
| "Receiver Level ", //10 |
| "AnalogOut11 ", |
| "Motor VL ", |
| "Motor RR ", |
| "Motor VR ", |
| "Motor RL ", //15 |
| "Motor Left ", |
| "Motor Right ", |
| "MeanAccRoll ", |
| "IntegralErrPitch", |
| "IntegralErrRoll ", //20 |
| "MeanIntPitch ", |
| "MeanIntRoll ", |
| "NeutralPitch ", |
| "RollOffset ", |
| "IntRoll*Factor ", //25 |
| "ReadingGyroPitch", |
| "DirectCorrRoll ", |
| "ReadingGyroRoll ", |
| "CorrectionRoll ", |
| "I-AttRoll ", //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); |
| rxd_buffer_locked = FALSE; |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| /****************************************************************/ |
| /* USART0 transmitter ISR */ |
| /****************************************************************/ |
| ISR(USART0_TX_vect) |
| { |
| static uint16_t ptr_txd_buffer = 0; |
| uint8_t tmp_tx; |
| if(!txd_complete) // transmission not completed |
| { |
| ptr_txd_buffer++; // die [0] wurde schon gesendet |
| tmp_tx = txd_buffer[ptr_txd_buffer]; |
| // if terminating character or end of txd buffer was reached |
| if((tmp_tx == '\r') || (ptr_txd_buffer == TXD_BUFFER_LEN)) |
| { |
| ptr_txd_buffer = 0; // reset txd pointer |
| txd_complete = 1; // stop transmission |
| } |
| UDR0 = tmp_tx; // send current byte will trigger this ISR again |
| } |
| // transmission completed |
| else ptr_txd_buffer = 0; |
| } |
| /****************************************************************/ |
| /* USART0 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART0_RX_vect) |
| { |
| static uint16_t crc; |
| static uint8_t ptr_rxd_buffer = 0; |
| uint8_t crc1, crc2; |
| uint8_t c; |
| c = UDR0; // catch the received byte |
| // If the FC 1.0 cpu is used the ublox module should be conneced to rxd of the 1st uart. |
| // The FC 1.1 /1.2 has the ATMEGA644p cpu with a 2nd uart to which the ublox should be connected. |
| #if defined (__AVR_ATmega644P__) |
| if(BoardRelease == 10) ubx_parser(c); |
| #else |
| ubx_parser(c); |
| #endif |
| if(rxd_buffer_locked) return; // if txd buffer is locked immediately return |
| // the rxd buffer is unlocked |
| if((ptr_rxd_buffer == 0) && (c == '#')) // if rxd buffer is empty and syncronisation character is received |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy 1st byte to buffer |
| crc = c; // init crc |
| } |
| #if 0 |
| else if (ptr_rxd_buffer == 1) // handle address |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| #endif |
| else if (ptr_rxd_buffer < RXD_BUFFER_LEN) // collect incomming bytes |
| { |
| if(c != '\r') // no termination character |
| { |
| rxd_buffer[ptr_rxd_buffer++] = c; // copy byte to rxd buffer |
| crc += c; // update crc |
| } |
| else // termination character was received |
| { |
| // the last 2 bytes are no subject for checksum calculation |
| // they are the checksum itself |
| crc -= rxd_buffer[ptr_rxd_buffer-2]; |
| crc -= rxd_buffer[ptr_rxd_buffer-1]; |
| // calculate checksum from transmitted data |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| // compare checksum to transmitted checksum bytes |
| if((crc1 == rxd_buffer[ptr_rxd_buffer-2]) && (crc2 == rxd_buffer[ptr_rxd_buffer-1])) |
| { // checksum valid |
| rxd_buffer_locked = TRUE; // lock the rxd buffer |
| ReceivedBytes = ptr_rxd_buffer; // store number of received bytes |
| rxd_buffer[ptr_rxd_buffer] = '\r'; // set termination character |
| // if 2nd byte is an 'R' enable watchdog that will result in an reset |
| if(rxd_buffer[2] == 'R') {wdt_enable(WDTO_250MS);} // Reset-Commando |
| } |
| else |
| { // checksum invalid |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| ptr_rxd_buffer = 0; // reset txd buffer |
| } |
| } // buffer overrun |
| else |
| { |
| ptr_rxd_buffer = 0; // reset rxd buffer |
| rxd_buffer_locked = FALSE; // unlock rxd buffer |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(uint16_t datalen) |
| { |
| uint16_t tmpCRC = 0,i; |
| for(i = 0; i < datalen;i++) |
| { |
| tmpCRC += txd_buffer[i]; |
| } |
| tmpCRC %= 4096; |
| txd_buffer[i++] = '=' + tmpCRC / 64; |
| txd_buffer[i++] = '=' + tmpCRC % 64; |
| txd_buffer[i++] = '\r'; |
| txd_complete = 0; |
| UDR0 = txd_buffer[0]; // initiates the transmittion |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(uint8_t cmd,uint8_t module, uint8_t *snd, uint8_t len) |
| { |
| uint16_t pt = 0; |
| uint8_t a,b,c; |
| uint8_t ptr = 0; |
| txd_buffer[pt++] = '#'; // Start character |
| txd_buffer[pt++] = module; // Address (a=0; b=1,...) |
| txd_buffer[pt++] = cmd; // Command |
| 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); // add checksum after data block and initates the transmission |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(uint8_t *ptrOut, uint8_t len, uint8_t ptrIn, uint8_t max) |
| { |
| 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; |
| 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 ProcessRxData(void) |
| { |
| // if data in the rxd buffer are not locked immediately return |
| if(!rxd_buffer_locked) return; |
| uint8_t tmp_char_arr2[2]; // local buffer |
| PcAccess = 255; |
| switch(rxd_buffer[2]) |
| { |
| case 'a':// Labels of the Analog Deboug outputs |
| Decode64((uint8_t *) &tmp_char_arr2[0], sizeof(tmp_char_arr2), 3, ReceivedBytes); |
| DebugTextAnforderung = tmp_char_arr2[0]; |
| break; |
| case 'b': // extern control |
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl), 3, ReceivedBytes); |
| RemoteButtons |= ExternControl.RemoteButtons; |
| ConfirmFrame = ExternControl.Frame; |
| break; |
| case 'c': // extern control with debug request |
| Decode64((uint8_t *) &ExternControl,sizeof(ExternControl),3,ReceivedBytes); |
| RemoteButtons |= ExternControl.RemoteButtons; |
| ConfirmFrame = ExternControl.Frame; |
| DebugDataRequest = 1; |
| break; |
| case 'h':// x-1 display columns |
| Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
| RemoteButtons |= tmp_char_arr2[0]; |
| if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; |
| else NurKanalAnforderung = 0; // keine Displaydaten |
| DebugDisplayRequest = 1; |
| break; |
| case 't':// motor test |
| Decode64((uint8_t *) &MotorTest[0],sizeof(MotorTest),3,ReceivedBytes); |
| break; |
| case 'k':// keys from DubWise |
| Decode64((uint8_t *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,ReceivedBytes); |
| ConfirmFrame = DubWiseKeys[3]; |
| break; |
| case 'v': // get version and board release |
| GetVersionRequest = 1; |
| break; |
| case 'g':// get debug data |
| DebugGetRequest = 1; |
| break; |
| case 'q':// get settings |
| Decode64((uint8_t *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,ReceivedBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; // limit to 5 |
| // load requested parameter set |
| ParamSet_ReadFromEEProm(tmp_char_arr2[0]); |
| SendOutData('L' + tmp_char_arr2[0] -1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
| } |
| else // send active parameter set |
| SendOutData('L' + GetParamByte(PID_ACTIVE_SET)-1,MySlaveAddr,(uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // save parameterset |
| Decode64((uint8_t *) &ParamSet.ChannelAssignment[0],PARAMSET_STRUCT_LEN,3,ReceivedBytes); |
| ParamSet_WriteToEEProm(rxd_buffer[2] - 'l' + 1); |
| TurnOver180Pitch = (int32_t) ParamSet.AngleTurnOverPitch * 2500L; |
| TurnOver180Roll = (int32_t) ParamSet.AngleTurnOverRoll * 2500L; |
| Beep(GetActiveParamSet()); |
| break; |
| } |
| // unlock the rxd buffer after processing |
| rxd_buffer_locked = FALSE; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int16_t uart_putchar (int8_t c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| // wait until previous character was send |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| //Ausgabe des Zeichens |
| UDR0 = c; |
| return (0); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void TransmitTxData(void) |
| { |
| static int16_t Debug_Timer = 0; |
| if(!txd_complete) return; |
| if(DebugGetRequest && txd_complete) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MySlaveAddr,(uint8_t *) &ExternControl,sizeof(ExternControl)); |
| DebugGetRequest = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataRequest) && txd_complete) |
| { |
| SendOutData('D',MySlaveAddr,(uint8_t *) &DebugOut,sizeof(DebugOut)); |
| DebugDataRequest = 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 && txd_complete) // Datensatz ohne CRC bestätigen |
| { |
| txd_buffer[0] = '#'; |
| txd_buffer[1] = ConfirmFrame; |
| txd_buffer[2] = '\r'; |
| txd_complete = 0; |
| ConfirmFrame = 0; |
| UDR0 = txd_buffer[0]; |
| } |
| if(DebugDisplayRequest && txd_complete) |
| { |
| LCD_PrintMenu(); |
| DebugDisplayRequest = 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(GetVersionRequest && txd_complete) |
| { |
| SendOutData('V',MySlaveAddr,(uint8_t *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionRequest = 0; |
| } |
| } |
| /branches/V0.68d CRK HexaLotte/uart.h |
|---|
| 0,0 → 1,64 |
| #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_LEFT 16 |
| #define DUB_KEY_RIGHT 32 |
| #define DUB_KEY_FIRE 64 |
| #include <inttypes.h> |
| //Baud rate of the USART |
| #define USART0_BAUD 57600 |
| extern void USART0_Init (void); |
| extern void TransmitTxData(void); |
| extern void ProcessRxData(void); |
| extern int16_t uart_putchar(int8_t c); |
| extern uint8_t PcAccess; |
| extern uint8_t RemotePollDisplayLine; |
| extern uint8_t MotorTest[4]; |
| extern uint8_t DubWiseKeys[4]; |
| typedef struct |
| { |
| uint8_t Digital[2]; |
| uint16_t Analog[32]; // Debugwerte |
| } DebugOut_t; |
| extern DebugOut_t DebugOut; |
| typedef struct |
| { |
| uint8_t Digital[2]; |
| uint8_t RemoteButtons; |
| int8_t Pitch; |
| int8_t Roll; |
| int8_t Yaw; |
| uint8_t Thrust; |
| int8_t Height; |
| uint8_t free; |
| uint8_t Frame; |
| uint8_t Config; |
| } ExternControl_t; |
| extern ExternControl_t ExternControl; |
| typedef struct |
| { |
| uint8_t Major; |
| uint8_t Minor; |
| uint8_t PCCompatible; |
| uint8_t Reserved[7]; |
| } VersionInfo_t; |
| extern VersionInfo_t VersionInfo; |
| #endif //_UART_H |
| /branches/V0.68d CRK HexaLotte/uart1.c |
|---|
| 0,0 → 1,144 |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include "main.h" |
| #include "uart1.h" |
| #include "fifo.h" |
| #include "ubx.h" |
| // FIFO-objects and buffers for input and output |
| //#define BUFSIZE_IN 0x96 |
| //volatile uint8_t inbuf[BUFSIZE_IN]; |
| //fifo_t infifo; |
| #define BUFSIZE_OUT 0x96 |
| volatile uint8_t outbuf[BUFSIZE_OUT]; |
| fifo_t outfifo; |
| /****************************************************************/ |
| /* Initialization of the USART1 */ |
| /****************************************************************/ |
| void USART1_Init (void) |
| { |
| // USART1 Control and Status Register A, B, C and baud rate register |
| uint8_t sreg = SREG; |
| uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * USART1_BAUD) - 1); |
| // disable all interrupts before reconfiguration |
| cli(); |
| // disable RX-Interrupt |
| UCSR1B &= ~(1 << RXCIE1); |
| // disable TX-Interrupt |
| UCSR1B &= ~(1 << TXCIE1); |
| // disable DRE-Interrupt |
| UCSR1B &= ~(1 << UDRIE1); |
| // set direction of RXD1 and TXD1 pins |
| // set RXD1 (PD2) as an input pin |
| PORTD |= (1 << PORTD2); |
| DDRD &= ~(1 << DDD2); |
| // set TXD1 (PD3) as an output pin |
| PORTD |= (1 << PORTD3); |
| DDRD |= (1 << DDD3); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR1H = (uint8_t)(ubrr>>8); |
| UBRR1L = (uint8_t)ubrr; |
| // enable double speed operation |
| UCSR1A |= (1 << U2X1); |
| // enable receiver and transmitter |
| UCSR1B = (1 << TXEN1) | (1 << RXEN1); |
| // set asynchronous mode |
| UCSR1C &= ~(1 << UMSEL11); |
| UCSR1C &= ~(1 << UMSEL10); |
| // no parity |
| UCSR1C &= ~(1 << UPM11); |
| UCSR1C &= ~(1 << UPM10); |
| // 1 stop bit |
| UCSR1C &= ~(1 << USBS1); |
| // 8-bit |
| UCSR1B &= ~(1 << UCSZ12); |
| UCSR1C |= (1 << UCSZ11); |
| UCSR1C |= (1 << UCSZ10); |
| // flush receive buffer explicit |
| while ( UCSR1A & (1<<RXC1) ) UDR1; |
| // enable interrupts at the end |
| // enable RX-Interrupt |
| UCSR1B |= (1 << RXCIE1); |
| // enable TX-Interrupt |
| UCSR1B |= (1 << TXCIE1); |
| // enable DRE interrupt |
| //UCSR1B |= (1 << UDRIE1); |
| // restore global interrupt flags |
| SREG = sreg; |
| // inint FIFO buffer |
| //fifo_init (&infifo, inbuf, BUFSIZE_IN); |
| //fifo_init (&outfifo, outbuf, BUFSIZE_OUT); |
| } |
| /*int16_t USART1_putc (const uint8_t c) |
| { |
| int16_t ret = fifo_put (&outfifo, c); |
| // create an data register empty interrupt |
| UCSR1B |= (1 << UDRIE1); |
| return ret; |
| } |
| */ |
| /*int16_t USART1_getc_nowait () |
| { |
| return fifo_get_nowait (&infifo); |
| } |
| uint8_t USART1_getc_wait () |
| { |
| return fifo_get_wait (&infifo); |
| } |
| */ |
| /****************************************************************/ |
| /* USART1 data register empty ISR */ |
| /****************************************************************/ |
| /*ISR(USART1_UDRE_vect) |
| { |
| // Move a character from the output buffer to the data register. |
| // When the character was processed the next interrupt is generated. |
| // If the output buffer is empty the DRE-interrupt is disabled. |
| if (outfifo.count > 0) |
| UDR1 = _inline_fifo_get (&outfifo); |
| else |
| UCSR1B &= ~(1 << UDRIE1); |
| } |
| */ |
| /****************************************************************/ |
| /* USART1 transmitter ISR */ |
| /****************************************************************/ |
| /*ISR(USART1_TX_vect) |
| { |
| } |
| */ |
| /****************************************************************/ |
| /* USART1 receiver ISR */ |
| /****************************************************************/ |
| ISR(USART1_RX_vect) |
| { |
| uint8_t c; |
| c = UDR1; // get data byte |
| if (BoardRelease == 11) ubx_parser(c); // and put it into the ubx protocol parser |
| } |
| /branches/V0.68d CRK HexaLotte/uart1.h |
|---|
| 0,0 → 1,25 |
| #ifndef _UART1_H |
| #define _UART1_H |
| #define USART1_BAUD 57600 |
| /* |
| Initialize the USART und activate the receiver and transmitter |
| as well as the receive-interrupt. The IO-FIFOs are initialized. |
| The global interrupt-enable-flag (I-Bit in SREG) is not changed |
| */ |
| extern void USART1_Init (void); |
| /* |
| The character c is stored in the output buffer. If the character was pushed sucessfully to |
| the output buffer then the return value is 1. In case of an output buffer overflow the return value is 0. |
| The isr is activated, which will send the data from the outbut buffer to the UART. |
| */ |
| extern int USART1_putc (const uint8_t c); |
| /* |
| extern uint8_t USART1_getc_wait(void); |
| extern int16_t USART1_getc_nowait(void); |
| */ |
| #endif //_UART1_H |
| /branches/V0.68d CRK HexaLotte/ubx.c |
|---|
| 0,0 → 1,230 |
| #include <inttypes.h> |
| #include "ubx.h" |
| #include "main.h" |
| #include <avr/io.h> |
| #include "uart.h" |
| // ubx protocol parser state machine |
| #define UBXSTATE_IDLE 0 |
| #define UBXSTATE_SYNC1 1 |
| #define UBXSTATE_SYNC2 2 |
| #define UBXSTATE_CLASS 3 |
| #define UBXSTATE_LEN1 4 |
| #define UBXSTATE_LEN2 5 |
| #define UBXSTATE_DATA 6 |
| #define UBXSTATE_CKA 7 |
| #define UBXSTATE_CKB 8 |
| // ublox protocoll identifier |
| #define UBX_CLASS_NAV 0x01 |
| #define UBX_ID_POSLLH 0x02 |
| #define UBX_ID_SOL 0x06 |
| #define UBX_ID_VELNED 0x12 |
| #define UBX_SYNC1_CHAR 0xB5 |
| #define UBX_SYNC2_CHAR 0x62 |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t Frac; // ns remainder of rounded ms above |
| int16_t week; // GPS week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| int32_t ECEF_X; // cm ECEF X coordinate |
| int32_t ECEF_Y; // cm ECEF Y coordinate |
| int32_t ECEF_Z; // cm ECEF Z coordinate |
| uint32_t PAcc; // cm 3D Position Accuracy Estimate |
| int32_t ECEFVX; // cm/s ECEF X velocity |
| int32_t ECEFVY; // cm/s ECEF Y velocity |
| int32_t ECEFVZ; // cm/s ECEF Z velocity |
| uint32_t SAcc; // cm/s Speed Accuracy Estimate |
| uint16_t PDOP; // 0.01 Position DOP |
| uint8_t res1; // reserved |
| uint8_t numSV; // Number of SVs used in navigation solution |
| uint32_t res2; // reserved |
| uint8_t Status; |
| } GPS_SOL_t; |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t LON; // 1e-07 deg Longitude |
| int32_t LAT; // 1e-07 deg Latitude |
| int32_t HEIGHT; // mm Height above Ellipsoid |
| int32_t HMSL; // mm Height above mean sea level |
| uint32_t Hacc; // mm Horizontal Accuracy Estimate |
| uint32_t Vacc; // mm Vertical Accuracy Estimate |
| uint8_t Status; |
| } GPS_POSLLH_t; |
| typedef struct { |
| uint32_t ITOW; // ms GPS Millisecond Time of Week |
| int32_t VEL_N; // cm/s NED north velocity |
| int32_t VEL_E; // cm/s NED east velocity |
| int32_t VEL_D; // cm/s NED down velocity |
| uint32_t Speed; // cm/s Speed (3-D) |
| uint32_t GSpeed; // cm/s Ground Speed (2-D) |
| int32_t Heading; // 1e-05 deg Heading 2-D |
| uint32_t SAcc; // cm/s Speed Accuracy Estimate |
| uint32_t CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t Status; |
| } GPS_VELNED_t; |
| GPS_SOL_t GpsSol = {0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0, INVALID}; |
| GPS_POSLLH_t GpsPosLlh = {0,0,0,0,0,0,0, INVALID}; |
| GPS_VELNED_t GpsVelNed = {0,0,0,0,0,0,0,0,0, INVALID}; |
| GPS_INFO_t GPSInfo = {0,0,0,0,0,0,0,0,0,0, INVALID}; |
| volatile uint8_t GPSTimeout = 0; |
| void UpdateGPSInfo (void) |
| { |
| if (GpsSol.Status == VALID) // valid packet |
| { |
| GPSInfo.satfix = GpsSol.GPSfix; |
| GPSInfo.satnum = GpsSol.numSV; |
| GPSInfo.PAcc = GpsSol.PAcc; |
| GPSInfo.VAcc = GpsSol.SAcc; |
| GpsSol.Status = PROCESSED; // never update old data |
| } |
| if (GpsPosLlh.Status == VALID) // valid packet |
| { |
| GPSInfo.longitude = GpsPosLlh.LON; |
| GPSInfo.latitude = GpsPosLlh.LAT; |
| GPSInfo.altitude = GpsPosLlh.HEIGHT; |
| GpsPosLlh.Status = PROCESSED; // never update old data |
| } |
| if (GpsVelNed.Status == VALID) // valid packet |
| { |
| GPSInfo.veleast = GpsVelNed.VEL_E; |
| GPSInfo.velnorth = GpsVelNed.VEL_N; |
| GPSInfo.veltop = -GpsVelNed.VEL_D; |
| GPSInfo.velground = GpsVelNed.GSpeed; |
| GpsVelNed.Status = PROCESSED; // never update old data |
| } |
| if ((GpsSol.Status != INVALID) && (GpsPosLlh.Status != INVALID) && (GpsVelNed.Status != INVALID)) |
| { |
| GPSInfo.status = VALID; // set valid if data are updated |
| } |
| } |
| // this function should be called within the UART RX ISR |
| void ubx_parser(uint8_t c) |
| { |
| static uint8_t ubxstate = UBXSTATE_IDLE; |
| static uint8_t cka, ckb; |
| static uint16_t msglen; |
| static int8_t *ubxP, *ubxEp, *ubxSp; // pointers to data currently transfered |
| switch(ubxstate) |
| { |
| case UBXSTATE_IDLE: // check 1st sync byte |
| if (c == UBX_SYNC1_CHAR) ubxstate = UBXSTATE_SYNC1; |
| else ubxstate = UBXSTATE_IDLE; // out of synchronization |
| break; |
| case UBXSTATE_SYNC1: // check 2nd sync byte |
| if (c == UBX_SYNC2_CHAR) ubxstate = UBXSTATE_SYNC2; |
| else ubxstate = UBXSTATE_IDLE; // out of synchronization |
| break; |
| case UBXSTATE_SYNC2: // check msg class to be NAV |
| if (c == UBX_CLASS_NAV) ubxstate = UBXSTATE_CLASS; |
| else ubxstate = UBXSTATE_IDLE; // unsupported message class |
| break; |
| case UBXSTATE_CLASS: // check message identifier |
| switch(c) |
| { |
| case UBX_ID_POSLLH: // geodetic position |
| ubxP = (int8_t *)&GpsPosLlh; // data start pointer |
| ubxEp = (int8_t *)(&GpsPosLlh + 1); // data end pointer |
| ubxSp = (int8_t *)&GpsPosLlh.Status; // status pointer |
| break; |
| case UBX_ID_SOL: // navigation solution |
| ubxP = (int8_t *)&GpsSol; // data start pointer |
| ubxEp = (int8_t *)(&GpsSol + 1); // data end pointer |
| ubxSp = (int8_t *)&GpsSol.Status; // status pointer |
| break; |
| case UBX_ID_VELNED: // velocity vector in tangent plane |
| ubxP = (int8_t *)&GpsVelNed; // data start pointer |
| ubxEp = (int8_t *)(&GpsVelNed + 1); // data end pointer |
| ubxSp = (int8_t *)&GpsVelNed.Status; // status pointer |
| break; |
| default: // unsupported identifier |
| ubxstate = UBXSTATE_IDLE; |
| break; |
| } |
| if (ubxstate != UBXSTATE_IDLE) |
| { |
| ubxstate = UBXSTATE_LEN1; |
| cka = UBX_CLASS_NAV + c; |
| ckb = UBX_CLASS_NAV + cka; |
| } |
| break; |
| case UBXSTATE_LEN1: // 1st message length byte |
| msglen = c; |
| cka += c; |
| ckb += cka; |
| ubxstate = UBXSTATE_LEN2; |
| break; |
| case UBXSTATE_LEN2: // 2nd message length byte |
| msglen += ((uint16_t)c)<<8; |
| cka += c; |
| ckb += cka; |
| // if the old data are not processed so far then break parsing now |
| // to avoid writing new data in ISR during reading by another function |
| if ( *ubxSp == VALID ) ubxstate = UBXSTATE_IDLE; |
| else // data invalid or allready processd |
| { |
| *ubxSp = INVALID; |
| ubxstate = UBXSTATE_DATA; |
| } |
| break; |
| case UBXSTATE_DATA: |
| if (ubxP < ubxEp) *ubxP++ = c; // copy curent data byte if any space is left |
| cka += c; |
| ckb += cka; |
| if (--msglen == 0) ubxstate = UBXSTATE_CKA; // switch to next state if all data was read |
| break; |
| case UBXSTATE_CKA: |
| if (c == cka) ubxstate = UBXSTATE_CKB; |
| else |
| { |
| *ubxSp = INVALID; |
| ubxstate = UBXSTATE_IDLE; |
| } |
| break; |
| case UBXSTATE_CKB: |
| if (c == ckb) |
| { |
| *ubxSp = VALID; // new data are valid |
| ROT_FLASH; |
| UpdateGPSInfo(); //update GPS info respectively |
| GPSTimeout = 255; |
| } |
| else |
| { // if checksum not fit then set data invalid |
| *ubxSp = INVALID; |
| } |
| ubxstate = UBXSTATE_IDLE; // ready to parse new data |
| break; |
| default: // unknown ubx state |
| ubxstate = UBXSTATE_IDLE; |
| break; |
| } |
| } |
| /branches/V0.68d CRK HexaLotte/ubx.h |
|---|
| 0,0 → 1,52 |
| #ifndef _UBX_H |
| #define _UBX_H |
| #include <inttypes.h> |
| #define INVALID 0x00 |
| #define VALID 0x01 |
| #define PROCESSED 0x02 |
| #define SATFIX_NONE 0x00 |
| #define SATFIX_DEADRECKOING 0x01 |
| #define SATFIX_2D 0x02 |
| #define SATFIX_3D 0x03 |
| #define SATFIX_GPS_DEADRECKOING 0x04 |
| #define SATFIX_TIMEONLY 0x05 |
| /* enable the UBX protocol at the gps receiver with the following messages enabled |
| 01-02 NAV - POSLLH |
| 01-06 Nav - SOL |
| 01-12 NAV - VELNED */ |
| typedef struct |
| { |
| uint8_t status; // status of data: invalid | valid |
| uint8_t satnum; // number of satelites |
| uint8_t satfix; // type of satfix |
| int32_t longitude; // in 1e-07 deg |
| int32_t latitude; // in 1e-07 deg |
| int32_t altitude; // in mm |
| uint32_t PAcc; // in cm 3d position accuracy |
| int32_t velnorth; // in cm/s |
| int32_t veleast; // in cm/s |
| int32_t veltop; // in cm/s |
| uint32_t velground; // 2D ground speed in cm/s |
| uint32_t VAcc; // in cm/s 3d velocity accuracy |
| } GPS_INFO_t; |
| //here you will find the current gps info |
| extern GPS_INFO_t GPSInfo; // measured position (last gps record) |
| // this variable should be decremted by the application |
| extern volatile uint8_t GPSTimeout; // is reset to 255 if a new UBX msg was received |
| // initialized the upx parser |
| extern void ubx_init(void); |
| // this function should be called within the UART RX ISR |
| extern void ubx_parser(uint8_t c); |
| #endif //_UBX_H |
| /branches/V0.68d CRK HexaLotte/version.txt |
|---|
| 0,0 → 1,232 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| V0.61 - V0.63 H.Buss 27.09.2007 |
| - Poti 4 und Kanal 8 werden im Menü angezeigt |
| - ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
| - Analog.c: Aktuell_ax korrigiert |
| - auf 32 Debug-Kanäle erweitert |
| - Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar |
| - leichte Anpassungen im Gier - Geschwindigkeit und Drift |
| - die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein |
| - die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird |
| - die PPM-Ausgänge liegen wieder an den Pins an |
| - Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders |
| - der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen |
| - I2C-Bus läuft jetzt sicher nach einer Störung wieder an |
| - Sticksignale werden präziser ausgewertet |
| - Stick-Kanäle werden ans Kopter-Tool übertragen |
| - Es muss die Version V1.47 des Kopter-Tool verwendet werden |
| - Die Settings werden auf Default zurückgesetzt |
| - am Piepen kann man die Fehlerart unterscheiden |
| 1. einzelnes Piepen beim Einschalten und Kalibrieren |
| 2. langsames Intervall mindestens 1 Sek -> Empfangsausfall |
| 3. schnelleres Intervall mindestens 1 Sek -> Akku |
| 4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört |
| V0.64 H.Buss 30.09.2007 |
| - beim Gieren wurden die Achsen nicht hart genug geregelt |
| V0.65a H.Buss 15.10.2007 |
| - Integral im Mischer wieder integriert |
| - Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
| - ACC/Gyro Abgleich auch bei HH |
| V0.66a H.Buss 3.11.2007 |
| - Messwertverarbeitung aus dem Analog-Interrupt entfernt |
| - Analogmessung hängt jetzt am FC-Timing |
| - Looping-Stick-Hysterese eingebaut |
| - Looping-180°-Umschlag einstellbar |
| - Achsenkopplung: Gierbewegung verkoppelt Nick und Roll |
| - Lageregelung nach ACC-Sensor verbessert |
| - zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage |
| - Gyrodriftkompensation überarbeitet |
| - Bug in der Gier-Stick-Berechnung behoben |
| - Gyro-Messung auf 1kHz beschleunigt |
| V0.67a H.Buss 16.11.2007 |
| - der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode) |
| - Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus |
| - Feinabstimmung |
| - Beim HH-Modus gab es noch Bugs |
| V0.67e H.Buss 29.11.2007 |
| - Parameter: Dynamic Stability und Driftfaktor eingeführt |
| - Die Namen der Analogwerte werden jetzt zum Koptertool übertragen |
| - Kompatibilität zum Koptertool erhöht |
| V0.67f H.Buss 04.12.2007 |
| - Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional |
| - Schub für Gier wird jetzt auf den Gaswert begrenzt, dadurch steigt der MK nicht mehr beim Gieren. Gier ist allerdings nicht mehr so agressiv |
| - Die ACC-Nullwerte können jetzt dauerhaft im EEPROM gespeichert werden (Stick:Vollgas und Gier rechts) |
| V0.68a I.Busker 28.12.2007 |
| - SPI.c & SPI.h ins Projekt aufgenommen |
| SPI-Kommuikation kann in SPI.h aktiviert/deaktivert werden |
| V0.68c H.Buss 05.01.2008 |
| - Stickauswertung verbessert -> träger und präziser |
| - Alle Settings angepasst |
| V0.68d Ausgangsversion. |
| G.Stobrawa 06.03.2008: |
| - Code stärker modularisiert und restrukturiert |
| - viele Kommentare zur Erklärug eingefügt |
| - konsequent englische Variablennamen |
| - PPM24 Support für bis zu 12 RC-Kanäle. |
| - Support für Kompass CMPS01 oder MM3 (mit verbesserte Neigungskompensation, stabilere Kommunikation) (Option im Makefile) |
| - 2. Uart wird nun unterstützt (MCU = atmega644p im Makefile) |
| - Ausertung des UBX-Pprotocols an 1. oder 2. Uart |
| - einige kleinere Bugfixes |
| - GPS-Hold-Funktion hinzugefügt |
| - GPS-Home-Funktion hinzugefügt (wird beim Motorstart gelernt, und bei Motorenstop wieder gelöscht) |
| - Poti3 steuert die GPS Funktionen (Poti3 < 70:GPS inaktiv, 70<=Poti3<160: GPS Hold, 160<=Poti3: GPS Home) |
| - LED Steuerung an J16, parametrierbar durch die User Parameter 7 & 8. UserParam7 legt die LEDOnTime in Vielfachen von 2ms fest |
| und UserParam 8 die LEDOffTime. |
| - Zusätzliche Punkte im Menü des KopterTool zur Anzeige des GPS-Status und der MM3-Kalibierparameter |
| - Hardware Configuration: |
| - Die PWM des CMPS03 wird wie bisher standard über den Port PC4 (Pin5 an SV1 der FC) eingelesen. |
| - Der MM3 wird wie folgt verbunden. |
| FC 1.0/1.1/1.2 Level Shifter MM3 |
| SCK (Pin1 SV5) ---> SCK (Pin1) |
| MISO (Pin3 SV5) <--- MISO (Pin2) |
| MOSI (Pin5 SV5) ---> MOSI (Pin3) |
| GND (Pin6 SV5) ---> GND (Pin7 / Pin14) |
| PC4 (Pin5 SV1) ---> SS (Pin4) |
| PC5 (Pin6 SV1) ---> RESET (Pin6) |
| Zusatzlich benötigt der MM3 noch eine 3V oder 3V3 Versorgung an VDD (Pin12). |
| Für das UBLOX-Modul muss noch GPS-GND mit FC-GND (Pin7 SV1) und die GPS-TXD Leitung mit FC-RXD (Pin1 SV1) verbunden werden, |
| wenn man die FC 1.0 verwendet. Für die FC 1.1/1.2 mit Atmega644p-Bestückung benötigt man mit FC-RXD1 (Pin3 SV1) bei der |
| FC1.1/1.2 wenn der Atmega 644p verbaut ist. Zusaätzlich bentigt das UBLOX-Modul noch eine 5V-Versorgung die ggf. von |
| der FC (an Pin2 SV1) abgegriffen werden kann. |
| - Konfiguration des MK. |
| Es sollte ein Haken bei GPS und Kompass gesetzt sein. |
| - User Parameters: |
| Parameter 3 --> Calibration factor for transforming Gyro Integrals to angular degrees (~170) |
| Parameter 4 --> Angle between the MM3 Board (Arrow) and the MK head (typical ~180) |
| Parameter 5 --> P-Factor for GPS PD controller (~100) |
| Parameter 6 --> D-Factor for GPS PD controller (~80) |
| Parameter 7 --> LEDOffTime for J16 |
| Parameter 8 --> LEDOnTime for J16 |
| - Zusätzliche Akustische Signale: |
| Dauerton: Eine GPS-Funktion is aktiviert und es werden keine oder |
| unvollständige GPS-Daten via UART empfangen. |
| Hier ist zu berücksichtigen, dass die folgenden UBX Messages am UBLOX |
| aktiviert wurden: NAV - POSLLH, NAV-SOL, NAV-VELNED. |
| Fehlt eine dieser Messages wird breits der Dauerton gesetzt. |
| 4Hz Piepen: Ist eine der GPS Funktion aktiviert, zeigt dass den Empfang valider UBX-Daten, |
| jedoch liegt noch kein 3D-Satfix vor. Die Pausen zwischen den 4Hz Pieps werden |
| immer länger je mehr Satelitten das GPS empfängt. |
| Liegt ein 3D Fix vor verstummt der Pieper dann endgültig egal wie viele Satelitten |
| beteiligt sind (es müssen dafür aber mindesten 4 sein). |
| 10Hz Piepen: Die Kommunikation zum Kompassmodul ist gestört. (Funktioniert bei beiden Kompassmodulen) |
| Der CompassValue in den Debugs vom Koptertool zeigt dann -1 an. |
| 1s Piepen: Ertönt dieses Signal nach dem Einschalten der Motoren wird die erfolgreiche |
| Übernahme der Home Position bestätigt. |
| - Inbetriebnahme: |
| Nach dem Flashen des Codes sollte man die Kalibrierung für den MM3 wiederholen, da diese Daten |
| an einer anderen Position im EEProm der FC abgelegt werden. |
| - Kotper ausschalten |
| - den Gas/Gierstick in die obere linke Ecke stellen |
| - Kopter einschalten (Periodisches Piepen zeigt aktive Kalibrierroutine an und der Gierstick kann wieder in die Giermittelstellung.) |
| - den Kopter fleißig umherwürfeln, damit jeder der 3 Magnetfeldsensoren einmal den Minimal. bzw. Maximalwert |
| des Erdmagnetfeldes gemessen hat. Man kann das etwas gezielter machen, denn die Richtung des Erdmagnetfeldes zeigt |
| in etwa nach Norden und taucht ca. mit 70° bzgl. des Horizonts in in die Erde ein. |
| - am Ende den Gasstick nach unten drücken, damit die Kalibrierung beendet wird, und die Daten im EEProm gesichter werden (Piepen beendet). |
| - Zur Sicherheit kann man die Kalibrierdaten im Menü des Koptertools unter Punkt 13 den Offset aller Achsen und unter |
| Punkt 14 den Range aller Achsen des MM3 anschauen. Bei mir sind die Werte der Offsets nur wenige Counts von 0 verschieden |
| um die Ranges fast gleich bei werten um die 500 counts. |
| Zur Bestimmung des User Parameters 3 (Umrechnungsfaktor zwischen dem Gyrointegral und dem zugehörigen Neigungswinkel) |
| hat sich folgendes Vorgehen bewehrt. |
| - Man bestimmt den Wert des Roll- und Nick-Integrals für einen Neigungswinkel von 90° über die Ausgaben des Koptertools. |
| - Aus diesem Wert kann man den benötigten UserParam3 berechnen. |
| UserParam3 = (Nick-Integral(90°)+Roll-Integral(90°))/2*GyroACCFaktor/90/8. (typisch 170) |
| - Nachdem dieser Wert über die Settings des Koptertools im MK abgepeichert ist, sollte sich der CompassValue bei |
| Verkippungen nur unwesentlich verändern. |
| - Zum Makefile: |
| Der Code so gestrickt, dass man für den Atemga644p oder den Atmega644 kompilieren kann. |
| (im Makefile MCU=atmega644 / MCU=atmega644p) |
| Falls der 644p verwendet wird, wird immer der Code für die 2. Uart mit compiliert. Diese wird aber nur initialisiert, |
| wenn die FC 1.1/1.2 erkannt wurde. In diesem Fall werden die GPS-Daten auch dort erwartet. |
| Bei der FC 1.0 wird die 2. Uart nicht initialisiert und die GPS-Daten an der 1. UART erwartet. |
| Wird der Code für den 644 erzeugt entfällt der gesamte Code für die 2. Uart. |
| Die GPS-Daten werden immer über die 1. Uart gelesen. |
| Damit sollte jede Kombination von FC-Version und Prozessorbestückung funktionieren. |
| Unabhängig von diesen Harwarevoraussetzungen kann man den Code für den MM3 oder CMPS03 Kompass einbinden. |
| (im Makefile: COMAPSS=MM3 / COMPASS = CMPS03) |