| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/2_serial.txt |
|---|
| 0,0 → 1,155 |
| ******************************************************************************** |
| in "makefile": |
| MCU = atmega644 |
| ändern in: |
| MCU = atmega644p |
| in "makefile" an entsprechender Stelle hinzufügen: |
| ifeq ($(MCU), atmega644p) |
| 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 = MEGA644P |
| endif |
| ******************************************************************************** |
| in "main.h" hinzufügen: (bei den anderen #defines) |
| #if defined (__AVR_ATmega644P__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| ******************************************************************************** |
| in "rc.h" hinzufügen: (bei den anderen #defines) |
| #if defined (__AVR_ATmega644P__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| ******************************************************************************** |
| in "uart.h" hinzufügen: (bei den anderen #defines) |
| #define BAUD_RATE1 57600 //Baud Rate für UART2 |
| #if defined (__AVR_ATmega644P__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| extern void UART1_Init (void); |
| ******************************************************************************** |
| in "uart.c" hinzufügen: und die entsprechenden interrupt routinen mit code füllen |
| //############################################################################ |
| //INstallation der 2ten Seriellen Schnittstelle |
| void UART1_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCSR1B=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| UCSR1A |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSR1B |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSR1B |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR1L=(SYSCLK / (BAUD_RATE1 * 8L) - 1); |
| //UBRR1L = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung an zweiten UART |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_USART1_TRANS) |
| { |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung von zweitem UART |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_USART1_RECV) |
| { |
| } |
| ******************************************************************************** |
| Was sonst noch zu beachten ist: |
| in "main.c" an geeigneter Stelle (z.B. dort wo bereits "UART_Init" aufgerufen wird nun auch "UART1_Init" aufrufen |
| Wenn in einer Routine der Zugriff auf ein altes UART Register vorkommt, welches nun auf UART1 (2ter Uart) gehen soll, |
| dann muß der Zugriff natülich auch umgestellt werden. Bei den zugehörigen register Bit Definitionen gilt zwar das gleich, da |
| die Bits bei UART0 und UART1 jedoch an selber Stelle im register ist es hier nur Kosmetisch nötig. |
| hierbei gilt: |
| alt (Zugriff auf Uart0) > neu (Zugriff auf Uart1) |
| USR > UCSR1A |
| UCR > UCSR1B |
| UDR > UDR1 |
| UBRR > UBRR1L |
| EICR > EICR1B |
| TXEN > TXEN1 |
| RXEN > RXEN1 |
| RXCIE > RXCIE1 |
| TXCIE > TXCIE1 |
| U2X > U2X1 |
| UCSRB > UCSR1B |
| UDRE > UDRE1 |
| UCSR0A > UCSR1A |
| UCSR0B > UCSR1B |
| UDR0 > UDR1 |
| UBRR0L > UBRR1L |
| EICR0B > EICR1B |
| TXEN0 > TXEN1 |
| RXEN0 > RXEN1 |
| RXCIE0 > RXCIE1 |
| TXCIE0 > TXCIE1 |
| U2X0 > U2X1 |
| UCSR0B > UCSR1B |
| UDRE0 > UDRE1 |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/Flight-Ctrl_MEGA644P_V0_67g.hex |
|---|
| 0,0 → 1,2852 |
| :100000000C9477030C9494030C9494030C94940331 |
| :100010000C9494030C9494030C9494030C94940304 |
| :100020000C9494030C94D2110C9494030C949403A8 |
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| :00000001FF |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/FlightCtrl.aps |
|---|
| 0,0 → 1,0 |
| <AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>11-Oct-2007 22:58:54</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>15-May-2007 11:20:41</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>F:\SVN\MikroKopter\FlightCtrl\branches\V0.64_ZeroWarnings\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR 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|
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/GPS.c |
|---|
| 0,0 → 1,310 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 10.2007 by Jochen Kromayer |
| // + es handelt sich um eine Beta-Software, die zu nichtkommerziellen Zwecken frei veröffentlich und weitergegeben werden darf. Für evtl. |
| // + Personen- und/der Sachschäden ist jegliche Haftung ausgeschlossen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| //Sinusfunktion von 0° bis 359°. Ergebnis wurde mit 1024 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. D.h., es muss also in der späteren Berechnung noch durch 1024 dividiert werden //(051207Kr) |
| const int c_sin[] = {0,18,36,54,71,89,107,125,143,160,178,195,213,230,248,265,282,299,316,333,350,367,384,400, |
| 416,433,449,465,481,496,512,527,543,558,573,587,602,616,630,644,658,672,685,698,711,724,737,749, |
| 761,773,784,796,807,818,828,839,849,859,868,878,887,896,904,912,920,928,935,943,949,956,962,968, |
| 974,979,984,989,994,998,1002,1005,1008,1011,1014,1016,1018,1020,1022,1023,1023,1024,1024,1024,1023,1023,1022,1020, |
| 1018,1016,1014,1011,1008,1005,1002,998,994,989,984,979,974,968,962,956,949,943,935,928,920,912,904,896, |
| 887,878,868,859,849,839,828,818,807,796,784,773,761,749,737,724,711,698,685,672,658,644,630,616, |
| 602,587,573,558,543,527,512,496,481,465,449,433,416,400,384,367,350,333,316,299,282,265,248,230, |
| 213,195,178,160,143,125,107,89,71,54,36,18,0,-18,-36,-54,-71,-89,-107,-125,-143,-160,-178,-195, |
| -213,-230,-248,-265,-282,-299,-316,-333,-350,-367,-384,-400,-416,-433,-449,-465,-481,-496,-512,-527,-543,-558,-573,-587, |
| -602,-616,-630,-644,-658,-672,-685,-698,-711,-724,-737,-749,-761,-773,-784,-796,-807,-818,-828,-839,-849,-859,-868,-878, |
| -887,-896,-904,-912,-920,-928,-935,-943,-949,-956,-962,-968,-974,-979,-984,-989,-994,-998,-1002,-1005,-1008,-1011,-1014,-1016, |
| -1018,-1020,-1022,-1023,-1023,-1024,-1024,-1024,-1023,-1023,-1022,-1020,-1018,-1016,-1014,-1011,-1008,-1005,-1002,-998,-994,-989,-984,-979, |
| -974,-968,-962,-956,-949,-943,-935,-928,-920,-912,-904,-896,-887,-878,-868,-859,-849,-839,-828,-818,-807,-796,-784,-773, |
| -761,-749,-737,-724,-711,-698,-685,-672,-658,-644,-630,-616,-602,-587,-573,-558,-543,-527,-512,-496,-481,-465,-449,-433, |
| -416,-400,-384,-367,-350,-333,-316,-299,-282,-265,-248,-230,-213,-195,-178,-160,-143,-125,-107,-89,-71,-54,-36,-18}; |
| //Cosinusfunktion von 0° bis 359°. Ergebnis wurde mit 1024 multipliziert, damit als Definition platzsparend int |
| //verwendet werden kann. D.h., es muss also in der späteren Berechnung noch durch 1024 dividiert werden //(051207Kr) |
| const int c_cos[] = {1024,1024,1023,1023,1022,1020,1018,1016,1014,1011,1008,1005,1002,998,994,989,984,979,974,968,962,956,949,943, |
| 935,928,920,912,904,896,887,878,868,859,849,839,828,818,807,796,784,773,761,749,737,724,711,698, |
| 685,672,658,644,630,616,602,587,573,558,543,527,512,496,481,465,449,433,416,400,384,367,350,333, |
| 316,299,282,265,248,230,213,195,178,160,143,125,107,89,71,54,36,18,0,-18,-36,-54,-71,-89, |
| -107,-125,-143,-160,-178,-195,-213,-230,-248,-265,-282,-299,-316,-333,-350,-367,-384,-400,-416,-433,-449,-465,-481,-496, |
| -512,-527,-543,-558,-573,-587,-602,-616,-630,-644,-658,-672,-685,-698,-711,-724,-737,-749,-761,-773,-784,-796,-807,-818, |
| -828,-839,-849,-859,-868,-878,-887,-896,-904,-912,-920,-928,-935,-943,-949,-956,-962,-968,-974,-979,-984,-989,-994,-998, |
| -1002,-1005,-1008,-1011,-1014,-1016,-1018,-1020,-1022,-1023,-1023,-1024,-1024,-1024,-1023,-1023,-1022,-1020,-1018,-1016,-1014,-1011,-1008,-1005, |
| -1002,-998,-994,-989,-984,-979,-974,-968,-962,-956,-949,-943,-935,-928,-920,-912,-904,-896,-887,-878,-868,-859,-849,-839, |
| -828,-818,-807,-796,-784,-773,-761,-749,-737,-724,-711,-698,-685,-672,-658,-644,-630,-616,-602,-587,-573,-558,-543,-527, |
| -512,-496,-481,-465,-449,-433,-416,-400,-384,-367,-350,-333,-316,-299,-282,-265,-248,-230,-213,-195,-178,-160,-143,-125, |
| -107,-89,-71,-54,-36,-18,0,18,36,54,71,89,107,125,143,160,178,195,213,230,248,265,282,299, |
| 316,333,350,367,384,400,416,433,449,465,481,496,512,527,543,558,573,587,602,616,630,644,658,672, |
| 685,698,711,724,737,749,761,773,784,796,807,818,828,839,849,859,868,878,887,896,904,912,920,928, |
| 935,943,949,956,962,968,974,979,984,989,994,998,1002,1005,1008,1011,1014,1016,1018,1020,1022,1023,1023,1024}; |
| long Soll_Position_North = 0; |
| long Soll_Position_East = 0; |
| long GPS_Positionsabweichung_North = 0; |
| long GPS_Positionsabweichung_East = 0; |
| long GPS_Geschwindigkeit_North = 0; |
| long GPS_Geschwindigkeit_East = 0; |
| signed int GPS_StickSense = 15; |
| long P_Einfluss_North = 0; |
| long D_Einfluss_North = 0; |
| long P_Einfluss_East = 0; |
| long D_Einfluss_East = 0; |
| signed int GPS_North = 0; |
| signed int GPS_East = 0; |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| volatile char gethome = 0; //Flag ob GPS_Home_Position gelernt ist //(280807Kr) |
| long GPS_Home_North = 0; |
| long GPS_Home_East = 0; |
| unsigned char blinkcount_LED2 = 0; //Hilfszähler für die blinkende LED (010907Kr) |
| #define GPS_Limit 35 //(031207Kr) |
| #define Limit_D_Anteil 30 //(031207Kr) |
| //**************************** MIRCOS DEFINITIONSANFANG FÜR DIE FILTERUNG |
| // Filterung der GPS Messwerte vom Ublox-Empfänger. Es wird der gleitende Durchschnitt aus n Messwerten gebildet |
| #define MITTELWERTZAHL 8 // Anzahl der Messwerte fuer gleitenden Mittelwert |
| volatile char NeuerMittelwert = 0; //Flag ob ein neuer Mittelwert vorliegt, der mit GPS Frequenz berechnet wird, da nur dann neue Messwerte vom GPS vorliegen |
| volatile unsigned char FilterPos = 0; |
| volatile long NORTH_MITTEL = 0; |
| volatile long EAST_MITTEL = 0; |
| volatile long long NORTH_LONG_LONG = 0; |
| volatile long long EAST_LONG_LONG = 0; |
| volatile int filterfilled = 0; |
| typedef struct { |
| long NORTH[MITTELWERTZAHL]; |
| } FILTER_NORTH; // Filterdefinition für die Positions-Nordwerte aus dem GPS-Empfänger |
| typedef struct { |
| long EAST[MITTELWERTZAHL]; |
| } FILTER_EAST; // Filterdefinition für die Positions-Ostwerte aus dem GPS-Empfänger |
| FILTER_NORTH filter_north; |
| FILTER_EAST filter_east; |
| //**************************** MIRCOS DEFINITIONSENDE FÜR DIE FILTERUNG |
| void gps_main(void) |
| { |
| //**************************** MIRCOS FILTERUNG ANFANG |
| //bilde neuen Positionsmittelwert, wenn 3D-Fix und neue GPS-Daten vorliegen |
| // if(actualPos.GPSFix == 3 && newData_navPosUtm == 1) |
| if(actualPos.GPSFix == 3) // hier umkommentieren, wenn dauernd (also nicht nur mit der GPS-Updaterate) die GPS-Berechnung durchgeführt werden soll |
| { |
| filter_north.NORTH[FilterPos] = actualPos.northing; |
| filter_east.EAST[FilterPos] = actualPos.easting; |
| FilterPos++; |
| if (FilterPos==MITTELWERTZAHL) FilterPos=0; |
| if (filterfilled<MITTELWERTZAHL) filterfilled++; |
| NORTH_LONG_LONG = 0; |
| EAST_LONG_LONG = 0; |
| for (int i=0; i<filterfilled; i++) |
| { |
| NORTH_LONG_LONG += filter_north.NORTH[i]; |
| EAST_LONG_LONG += filter_east.EAST[i]; |
| } |
| NORTH_LONG_LONG /= filterfilled; |
| EAST_LONG_LONG /= filterfilled; |
| NORTH_MITTEL = NORTH_LONG_LONG; |
| EAST_MITTEL = EAST_LONG_LONG; |
| NeuerMittelwert = 1; |
| newData_navPosUtm = 0; |
| } |
| //******************************* MIRCOS FILTERUNG ENDE |
| //wenn kein 3D-Fix vorhanden, über das Poti jedoch irgendeine GPS Funktion aktiv ist, werden die GPS-Steuerbefehle |
| //auf Null gesetzt, um unkontrolliertes Wegfliegen durch das GPS zu verhindern. Dadurch wird abgesichert |
| //(auch im laufenden Flug), dass bei einem Verlust der GPS-Verbindung GPS deaktivert wird |
| if (actualPos.GPSFix < 3 && Poti3 > 70) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| beeptime = 50; |
| } |
| // speichert die GPS_Home_Position beim 3D-Fix, MotorEINschalten und wenn noch nicht zu weit weggeflogen wurde |
| // (modell_fliegt_gps < 2000) einmalig ab. Die Flugzeitabfrage sichert ab, dass bei einem Losfliegen ohne 3D-Fix die Home_Positinen |
| // irgendwann später dort gelernt werden, wo dann zu ersten mal ein 3D-Fix vorhanden ist |
| if (actualPos.GPSFix == 3 && MotorenEin == 1 && gethome == 0 && modell_fliegt_gps < 2000) |
| { |
| GPS_Home_North = NORTH_MITTEL; |
| GPS_Home_East = EAST_MITTEL; |
| // Muss hier auch eingelernt werden, damit falls das Poti3 beim Motorenstarten in |
| // Mittelstellung sein sollte, trotzdem schon eine Sollposition vorliegt. Andernfalls würde |
| // GPS_Nick und _Roll maximal werden bis zum ersten Mal Stick_Nick und _Roll gesteuert würde |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| beeptime = 50; |
| gethome = 1; |
| } |
| //löscht die GPS_Home_Position beim MotorAUSschalten wieder und resetet das Flag gethome //(280807Kr) |
| if (MotorenEin == 0) |
| { |
| GPS_Home_North = 0; |
| GPS_Home_East = 0; |
| gethome = 0; |
| modell_fliegt_gps = 0; |
| } |
| // wenn Schalter ausgeschaltet, dann wird die LED2 ausgeschaltet und das GPS Steuerkommando gelöscht |
| if(Poti3 < 70) |
| { |
| // Sollpositionen müssen auch hier beschrieben werden, damit ausgeschlossen ist, dass falls gelandet wird und die GPS-Funktion |
| // über Poti3 deaktivert und anschließend wieder aktiviert wird keine Soll-Positionen vorliegen. |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| LED2_OFF; |
| //hierdurch soll verhindert werden, dass wenn nach schonmal aktiver GPS Funktion (und damit 3D-fix) der GPS-Empfänger |
| //abgezogen werden sollte weiterhin ein 3D-fix angezeigt wird. Grund ist, dass in diesem Fall in der UART.c nach einem |
| //Abziehen der Status nicht mehr auf Null zurückgesetzt wird. Dies geschied nun beim Ausschalten der GPS-Funktion. |
| //Sie ist dann ohne erneuten 3D-Fix nicht mehr aktivierbar. (111107Kr) |
| actualPos.GPSFix = 0; |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich und vom Pilot gesteuert wird, wird ständig neue GPS-Sollposition eingelernt |
| if(actualPos.GPSFix == 3 && Poti3 > 70 && Poti3 < 150 && (StickNick > GPS_StickSense || StickNick < -GPS_StickSense || StickRoll > GPS_StickSense || StickRoll < -GPS_StickSense)) |
| { |
| GPS_Nick = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| GPS_Roll = 0; //wird genullt, damit das letzte GPS Kommando nicht ständig gegen den Piloten ansteuert |
| Soll_Position_North = NORTH_MITTEL; // Soll-Position wird geschrieben |
| Soll_Position_East = EAST_MITTEL; // Soll-Position wird geschrieben |
| //++++++++++++++++++++++++++++++++++++ |
| //Sorgt lediglich dafür, dass die LED2 langsam blinkt. Dauer ist durch die "> x" Abfrage festgelegt |
| //++++++++++++++++++++++++++++++++++++ |
| if(blinkcount_LED2 >= 200) // maximal erlaubt 255 wegen unsigned char |
| { |
| LED2_FLASH; |
| blinkcount_LED2 = 0; |
| } |
| blinkcount_LED2++; |
| //++++++++++++++++++++++++++++++++++++ |
| } |
| // wenn 3D-Fix, Schalter im mittleren Bereich (oder höher), neuer Mittelwert vorhanden, wenigstens einmal Sollposition gelernt und der Pilot nicht selbst steuert wird eine GPS-Funktion aktiviert |
| if (actualPos.GPSFix == 3 && Poti3 > 70 && NeuerMittelwert == 1 && Soll_Position_North != 0 && Soll_Position_East != 0 && StickNick <= GPS_StickSense && StickNick >= -GPS_StickSense && StickRoll <= GPS_StickSense && StickRoll >= -GPS_StickSense) |
| { |
| //Berechnung der GPS-Positionsabweichung je nach aktivierter GPS-Funktion (GPS_HOLD oder HOMING) |
| //DYNAMISCHES GPS-HOLD, wenn Schalter noch in Mittelstellung ist wird die zuletzt gelernte Soll_Position angeflogen |
| if(Poti3 < 150) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| } |
| //andernfalls, wenn Schalter in max. Stellung und zusätzlich die GPS_Home_Positionen beim Motorenstarten gelernt |
| //werden konnten, wird zur GPS_Home_Position geflogen |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0) |
| { |
| GPS_Positionsabweichung_North = (GPS_Home_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (GPS_Home_East - EAST_MITTEL); |
| // durch das ständige Neulernen der Soll_Positionen während HOMING wird erreicht, dass der MK nach dem Umschalten |
| // von HOMING zurück zu GPS-HOLD nicht wieder an die alte Soll_Position zurück fliegt |
| Soll_Position_North = NORTH_MITTEL; |
| Soll_Position_East = EAST_MITTEL; |
| LED2_ON; |
| } |
| //verhindert, dass beim Umschalten von Mittelstellung (GPS_HOLD) auf Maximalstellung (HOMING) OHNE gelernte Homeposition |
| //die GPS Funktion unkontrolliert steuert. Daher wird GPS_HOLD aktiv gehalten, die Sollpositon wird bei Stickbefehlen |
| //jedoch nicht wie beim dynamischen GPS_HOLD überschrieben. Zusätzlich wird der Summer eingeschaltet. |
| if (Poti3 >= 150 && GPS_Home_North == 0 && GPS_Home_East == 0) |
| { |
| GPS_Positionsabweichung_North = (Soll_Position_North - NORTH_MITTEL); |
| GPS_Positionsabweichung_East = (Soll_Position_East - EAST_MITTEL); |
| LED2_ON; |
| beeptime = 50; |
| } |
| //GPS-Geschwindigkeiten |
| GPS_Geschwindigkeit_North = actualPos.velNorth; //actualPos.velNorth ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Nord-Süd Richtung |
| GPS_Geschwindigkeit_East = actualPos.velEast; //actualPos.velEast ist die Geschwindigkeiten aus dem GPS Empfänger entlang der Ost-West Richtung |
| //Berechnung der Einzelkomponenten des PD-Reglers |
| P_Einfluss_North = (P_GPS_Verstaerkung * GPS_Positionsabweichung_North) / 2048; |
| D_Einfluss_North = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_North) / 256; |
| P_Einfluss_East = (P_GPS_Verstaerkung * GPS_Positionsabweichung_East) / 2048; |
| D_Einfluss_East = (D_GPS_Verstaerkung * GPS_Geschwindigkeit_East) / 256; |
| // Begrenzung des maximalen D-Anteils für pos. und neg. Werte. Grenze muss so geählt werden, |
| // dass das Limit im normalen Position-Hold nicht erreicht wird und somit keinen Einfluss hat. |
| // Grund: Beim Zufliegen auf weiter entfernte Ziele bremst der D-Anteil kurz vor dem Ziel den Mikrokopter sehr stark ab. |
| // Dieses Limit wirkt nur, wenn sich der MK im HOMING Modus befindet und sich noch weit (>5m) von der Home-Position weg befindet. |
| if (Poti3 >= 150 && GPS_Home_North != 0 && GPS_Home_East != 0 && (abs(GPS_Positionsabweichung_North) > 500 || abs(GPS_Positionsabweichung_East) > 500)) |
| { |
| if (D_Einfluss_North > Limit_D_Anteil) D_Einfluss_North = Limit_D_Anteil; |
| if (D_Einfluss_East > Limit_D_Anteil) D_Einfluss_East = Limit_D_Anteil; |
| if (D_Einfluss_North < -1 * Limit_D_Anteil) D_Einfluss_North = -1 * Limit_D_Anteil; |
| if (D_Einfluss_East < -1 * Limit_D_Anteil) D_Einfluss_East = -1 * Limit_D_Anteil; |
| } |
| // PD-Regler |
| GPS_North = (-P_Einfluss_North + D_Einfluss_North); |
| GPS_East = (P_Einfluss_East - D_Einfluss_East); |
| //Umrechnen vom globalen North- bzw. East- in das körperfeste X- bzw. Y- Koordinatensystem |
| GPS_Nick = ((c_cos[KompassValue]*GPS_North)/1024 - (c_sin[KompassValue]*GPS_East)/1024); |
| GPS_Roll = ((c_cos[KompassValue]*GPS_East)/1024 + (c_sin[KompassValue]*GPS_North)/1024); |
| // Begrenzung des maximalen GPS Einflusses für positive und negative Werte |
| if (GPS_Nick > GPS_Limit) GPS_Nick = GPS_Limit; |
| if (GPS_Roll > GPS_Limit) GPS_Roll = GPS_Limit; |
| if (GPS_Nick < -1 * GPS_Limit) GPS_Nick = -1 * GPS_Limit; |
| if (GPS_Roll < -1 * GPS_Limit) GPS_Roll = -1 * GPS_Limit; |
| //Funktion wird dadurch nur alle 250 ms aufgerufen, wenn neue Mittelwerte aus den GPS-Daten vorliegen. |
| //FUNKTIONIERT MOMENTAN NOCH NICHT, DA STÄNDIG OHNE UNTERBRECHUNG NEUE MITTELWERTE BERECHNET WERDEN. |
| //GRUND: DIE ABFRAGE NACH NEUE GPS-DATEN ERFOLGT NOCH NICHT |
| NeuerMittelwert = 0; |
| } |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/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/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/Hex-Files/Flight-Ctrl_MEGA644P_V0_67g.hex |
|---|
| 0,0 → 1,2852 |
| :100000000C9477030C9494030C9494030C94940331 |
| :100010000C9494030C9494030C9494030C94940304 |
| :100020000C9494030C94D2110C9494030C949403A8 |
| :100030000C94731B0C9494030C9494030C949403ED |
| :100040000C9494030C9494030C9479120C949603DE |
| :100050000C9463090C9494030C942D090C94940350 |
| :100060000C9448130C9494030C94A81A0C949403C5 |
| :100070000C94D20A0C9494030C94350A0A0A0D00CD |
| :100080004E65757472616C0048656164696E67489D |
| :100090006F6C64000A0D537465756572756E673A0E |
| :1000A00020004F4B0A0D000A0D4162676C656963C1 |
| :1000B00068204C756674647275636B73656E736FDC |
| :1000C000722E2E000A0D4B616C6962726965726551 |
| :1000D000204E65757472616C6C616765000A0D4B2A |
| :1000E000616C69627269657265204B6F6D706173D6 |
| :1000F00073000A0D42656E75747A652050617261F5 |
| :100100006D657465727361747A202564000A0D410F |
| :100110004343206E696368742061626765676C6938 |
| :100120006368656E21000A0D496E69742E2045458D |
| :1001300050524F4D3A2047656E6572696572652071 |
| :1001400044656661756C742D506172616D6574658E |
| :10015000722E2E2E000A0D3D3D3D3D3D3D3D3D3D67 |
| :100160003D3D3D3D3D3D3D3D3D3D3D3D3D3D3D3DBF |
| :100170003D3D3D3D3D000A0D466C69676874436F27 |
| :100180006E74726F6C0A0D48617264776172653AC1 |
| :1001900025642E25640A0D536F6674776172653A83 |
| :1001A0005625642E2564256320002E0052616E675B |
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| :1001C0006E673A2025336900536574706F696E74E9 |
| :1001D000202025336900536572766F202000506F10 |
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| :100200006900506F323A2025336920506F363A200A |
| :1002100025336900506F313A2025336920506F35FE |
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| :10031000336929004779726F202D2053656E736F02 |
| :10032000720050333A253469202050343A2534691C |
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| :1003600020004B373A25346920204B383A25346930 |
| :1003700020004B353A25346920204B363A25346924 |
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| :100BE0002C143D0448F56090D10B7090D20B6C141E |
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| :100C00008095982FA80197010E9485539101442750 |
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| :10B0940001C101D101E101F00100020F021F022EE2 |
| :10B0A400023D024B025A026802760284029202A016 |
| :10B0B40002AD02BA02C702D402E102ED02F90205AE |
| :10B0C4000310031C03270332033C03470351035BB0 |
| :10B0D4000364036E0377038003880390039803A03B |
| :10B0E40003A703AF03B503BC03C203C803CE03D352 |
| :10B0F40003D803DD03E203E603EA03ED03F003F3FD |
| :10B1040003F603F803FA03FC03FE03FF03FF030043 |
| :10B11400040F0000010202030303030404040404F3 |
| :10B1240004040405050505050505050505050505CE |
| :10B1340005050506060606060606060606060606AE |
| :10B14400060606060606060606060606060606069B |
| :10B15400060606070707070707070707070707077E |
| :10B16400070707070707070707070707070707076B |
| :10B17400070707070707070707070707070707075B |
| :10B18400070707070707070707070707070707074B |
| :10B19400070707080808080808080808080808082E |
| :10B1A400080808080808080808080808080808081B |
| :10B1B400080808080808080808080808080808080B |
| :10B1C40008080808080808080808080808080808FB |
| :10B1D40008080808080808080808080808080808EB |
| :10B1E40008080808080808080808080808080808DB |
| :10B1F40008080808080808080808080808080808CB |
| :10B2040008080808080808080808080808080808BA |
| :04B21400080808001E |
| :00000001FF |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/Hex-Files/WasIstWas.txt |
|---|
| 0,0 → 1,15 |
| +++++++++++++++++++++++++ |
| + Flight-Ctrl: |
| +++++++++++++++++++++++++ |
| BootLoader_MEGA644_20MHZ_V0_1.hex |
| Der Bootloader wird per ISP eingespielt |
| Der Bootloader nur dann eingespielt werden, wenn noch nie ein Bootloader eingespielt wurde! |
| Danach können Softwareupdates seriell eingespielt werden. |
| Flight-Ctrl_MEGA644_Vx_yy.hex |
| Aktuelle Firmware |
| Wird per serielle Schnittstelle (durch den Bootloader) eingespielt |
| Flight-Ctrl SW > 0.62 benötigt das Kopter-Tool >1.47 |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/Kopie von uart.c |
|---|
| 0,0 → 1,706 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char RemotePollDisplayLine = 0; |
| unsigned char NurKanalAnforderung = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char DubWiseKeys[3] = {0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| const unsigned char ANALOG_TEXT[32][16] = |
| { |
| //1234567890123456 |
| "IntegralNick ", //0 |
| "IntegralRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "GyroGier ", |
| "HoehenWert ", //5 |
| "AccZ ", |
| "Gas ", |
| "KompassValue ", |
| "Spannung ", |
| "Empfang ", //10 |
| "Analog11 ", |
| "Motor_Vorne ", |
| "Motor_Hinten ", |
| "Motor_Links ", |
| "Motor_Rechts ", //15 |
| "Acc_Z ", |
| "MittelAccNick ", |
| "MittelAccRoll ", |
| "IntegralErrNick ", |
| "IntegralErrRoll ", //20 |
| "MittelIntNick ", |
| "MittelIntRoll ", |
| "NeutralNick ", |
| "RollOffset ", |
| "IntRoll*Faktor ", //25 |
| "Analog26 ", |
| "DirektAusglRoll ", |
| "MesswertRoll ", |
| "AusgleichRoll ", |
| "I-LageRoll ", //30 |
| "StickRoll " |
| }; |
| char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
| static uint8_t gpsState; |
| #define GPS_EMPTY 0 |
| #define GPS_SYNC1 1 |
| #define GPS_SYNC2 2 |
| #define GPS_CLASS 3 |
| #define GPS_LEN1 4 |
| #define GPS_LEN2 5 |
| #define GPS_FILLING 6 |
| #define GPS_CKA 7 |
| #define GPS_CKB 8 |
| gpsInfo_t actualPos; // measured position (last gps record) |
| #define SYNC_CHAR1 0xb5 |
| #define SYNC_CHAR2 0x62 |
| #define CLASS_NAV 0x01 |
| #define MSGID_STATUS 0x03 |
| //#define MSGID_POSLLH 0x02 //(231107Kr) |
| #define MSGID_POSUTM 0x08 |
| #define MSGID_VELNED 0x12 |
| typedef struct { |
| unsigned long ITOW; // time of week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| uint8_t DiffS; // Differential Status |
| uint8_t res; // reserved |
| unsigned long TTFF; // Time to first fix (millisecond time tag) |
| unsigned long MSSS; // Milliseconds since Startup / Reset |
| uint8_t packetStatus; |
| } NAV_STATUS_t; |
| /* |
| typedef struct { //(231107Kr) |
| unsigned long ITOW; // time of week |
| long LON; // longitude in 1e-07 deg |
| long LAT; // lattitude |
| long HEIGHT; // height in mm |
| long HMSL; // height above mean sea level im mm |
| unsigned long Hacc; // horizontal accuracy in mm |
| unsigned long Vacc; // vertical accuracy in mm |
| uint8_t packetStatus; |
| } NAV_POSLLH_t; |
| */ |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long EAST; // cm UTM Easting |
| long NORTH; // cm UTM Nording |
| long ALT; // cm altitude |
| uint8_t ZONE; // UTM zone number |
| uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
| uint8_t packetStatus; |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long VEL_N; // cm/s NED north velocity |
| long VEL_E; // cm/s NED east velocity |
| long VEL_D; // cm/s NED down velocity |
| unsigned long Speed; // cm/s Speed (3-D) |
| unsigned long GSpeed; // cm/s Ground Speed (2-D) |
| long Heading; // deg (1e-05) Heading 2-D |
| unsigned long SAcc; // cm/s Speed Accuracy Estimate |
| unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t packetStatus; |
| } NAV_VELNED_t; |
| NAV_STATUS_t navStatus; |
| //NAV_POSLLH_t navPosLlh; //(231107Kr) |
| NAV_POSUTM_t navPosUtm; |
| NAV_VELNED_t navVelNed; |
| volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
| volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
| volatile unsigned short msgLen; |
| volatile uint8_t msgID; |
| volatile uint8_t ignorePacket; // true when previous packet was not processed |
| #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
| extern volatile uint8_t v24state; |
| char buf[200]; |
| char *bp; |
| char *ep; |
| #endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung an zweiten UART |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_USART1_TRANS) |
| { |
| //zum 2te Uart (GPS) wird im Moment nichts gesendet |
| } |
| void GPSscanData (void) |
| { |
| if (navStatus.packetStatus == 1) // valid packet |
| { |
| actualPos.GPSFix = navStatus.GPSfix; |
| actualPos.newData = navStatus.packetStatus; |
| navStatus.packetStatus = 0; |
| } |
| /* |
| if (navPosLlh.packetStatus == 1) // valid packet |
| { |
| actualPos.longi = navPosLlh.LON; //(231107Kr) |
| actualPos.lati = navPosLlh.LAT; //(231107Kr) |
| actualPos.height = navPosLlh.HEIGHT; //(231107Kr) |
| navPosLlh.packetStatus = 0; |
| } |
| */ |
| if (navPosUtm.packetStatus == 1) // valid packet |
| { |
| actualPos.northing = navPosUtm.NORTH; |
| actualPos.easting = navPosUtm.EAST; |
| actualPos.altitude = navPosUtm.ALT; |
| navPosUtm.packetStatus = 0; |
| newData_navPosUtm = 1; // (211007Kr) |
| ROT_ON; // Rot blinkt in der Frequenz mit der neue UTM-Daten des GPS Empfänger ankommen und brauchbar sind //(211107Kr) |
| } |
| if (navVelNed.packetStatus == 1) // valid packet |
| { |
| actualPos.velNorth = navVelNed.VEL_N; |
| actualPos.velEast = navVelNed.VEL_E; |
| actualPos.velDown = navVelNed.VEL_D; |
| actualPos.GSpeed = navVelNed.GSpeed; //Geschwindigkeit [cm/s] über Grund (151007Kr) |
| navVelNed.packetStatus = 0; |
| } |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung von zweitem UART |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_USART1_RECV) |
| { |
| uint8_t c; |
| uint8_t re; |
| SioTmp = UDR; |
| re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
| c = SioTmp; |
| #ifdef GPS_DEBUG |
| *bp++ = c; |
| if (bp >= (buf+200)) bp = buf; |
| if (v24state == 0) |
| { |
| v24state = 1; |
| UDR0 = *ep++; |
| if (ep >= buf+200) |
| ep = buf; |
| UCSR0B |= _B1(UDRIE0); //enable further irqs |
| } |
| #endif |
| if (re == 0) |
| { |
| switch (gpsState) |
| { |
| case GPS_EMPTY: |
| if (c == SYNC_CHAR1) |
| gpsState = GPS_SYNC1; |
| break; |
| case GPS_SYNC1: |
| if (c == SYNC_CHAR2) |
| gpsState = GPS_SYNC2; |
| else if (c != SYNC_CHAR1) |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_SYNC2: |
| if (c == CLASS_NAV) |
| gpsState = GPS_CLASS; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CLASS: // msg ID seen: init packed receive |
| msgID = c; |
| CK_A = CLASS_NAV + c; |
| CK_B = CLASS_NAV + CK_A; |
| gpsState = GPS_LEN1; |
| switch (msgID) |
| { |
| case MSGID_STATUS: |
| ubxP = (char*)&navStatus; |
| ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
| ubxSp = (char*)&navStatus.packetStatus; |
| ignorePacket = navStatus.packetStatus; |
| break; |
| /* |
| case MSGID_POSLLH: //(231107Kr) |
| ubxP = (char*)&navPosLlh; |
| ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
| ubxSp = (char*)&navPosLlh.packetStatus; |
| ignorePacket = navPosLlh.packetStatus; |
| break; |
| */ |
| case MSGID_POSUTM: |
| ubxP = (char*)&navPosUtm; |
| ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
| ubxSp = (char*)&navPosUtm.packetStatus; |
| ignorePacket = navPosUtm.packetStatus; |
| break; |
| case MSGID_VELNED: |
| ubxP = (char*)&navVelNed; |
| ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
| ubxSp = (char*)&navVelNed.packetStatus; |
| ignorePacket = navVelNed.packetStatus; |
| break; |
| default: |
| ignorePacket = 1; |
| ubxSp = (char*)0; |
| } |
| break; |
| case GPS_LEN1: // first len byte |
| msgLen = c; |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_LEN2; |
| break; |
| case GPS_LEN2: // second len byte |
| msgLen = msgLen + (c * 256); |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_FILLING; // next data will be stored in packet struct |
| break; |
| case GPS_FILLING: |
| CK_A += c; |
| CK_B += CK_A; |
| if ( !ignorePacket && ubxP < ubxEp) |
| *ubxP++ = c; |
| if (--msgLen == 0) |
| gpsState = GPS_CKA; |
| break; |
| case GPS_CKA: |
| if (c == CK_A) |
| gpsState = GPS_CKB; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CKB: |
| if (c == CK_B && ubxSp) // No error -> packet received successfully |
| *ubxSp = 1; // set packetStatus in struct |
| gpsState = GPS_EMPTY; // ready for next packet |
| break; |
| default: |
| gpsState = GPS_EMPTY; // ready for next packet |
| } |
| } |
| else // discard any data if error occured |
| { |
| gpsState = GPS_EMPTY; |
| } |
| GPSscanData (); |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| // unsigned int tmp_int_arr1[1]; |
| // unsigned int tmp_int_arr2[2]; |
| // unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| // unsigned char tmp_char_arr3[3]; |
| // unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'a':// Texte der Analogwerte |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| DebugTextAnforderung = tmp_char_arr2[0]; |
| break; |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'k':// Keys von DubWise |
| Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //############################################################################ |
| //INstallation der 2ten Seriellen Schnittstelle |
| void UART1_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCSR1B=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| UCSR1A |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSR1B |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSR1B |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR1L=(SYSCLK / (BAUD_RATE1 * 8L) - 1); |
| //UBRR1L = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
| DebugTextAnforderung = 255; |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
| { |
| SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| RemotePollDisplayLine = -1; |
| } |
| else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/Kopter-Tool/MikroKopter-Tool_1_48.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/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/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/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/Settings.h |
|---|
| --- Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/_Parameter.txt (nonexistent) |
| +++ Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/_Parameter.txt (revision 550) |
| @@ -0,0 +1,34 @@ |
| +********************************** |
| +GPS-Parameter |
| +********************************** |
| + |
| +P-Faktor (Userparam_5): ~76 |
| + |
| +info: muss zum Einstellen auf ein Poti gelegt werden! |
| +verhindert ein langsames, stetiges Wegdriften des MK. Der P-Faktor sollte zu Beginn gleich Null sein und ERST NACHDEM DER D-Faktor EINGESTELLT IST (siehe unten) langsam erhöht werden. Idealerweise in kleinen Schritten, bis der MK wieder langsam gegen den Wind zur Sollposition zurückfliegt. |
| + |
| + |
| +--------------------- |
| +D-Faktor (Userparam_6): ~68 |
| + |
| +info: muss zum Einstellen auf ein Poti gelegt werden! |
| +Auch beim D-Faktor zuerst so vorgehen, dass er zu Beginn gleich Null ist. Dann die GPS Funktion von Sender aus einschalten und die Steuerknüppel loslassen. Anschließend wird der MK unmittelbar wegdriften. Dies kann nur durch ein Erhöhen des D-Faktors verhindert werden. Der D-Faktor gleich hauptsächlich stärkere Windböen aus und verlangsamt das plötzliche Wegfliegen erstmal, führt alleine jedoch nicht zu einem stabilen Positionshalten. Diesen Parameter solange behutsam erhöhen, bis der MK anfängt mehr oder weniger stark auf der Stelle zu zucken, dann natürlich wieder leicht reduzieren! |
| +Den Rest macht denn der P-Faktor (siehe oben). |
| + |
| + |
| + |
| +********************************** |
| +LED-Parameter |
| +********************************** |
| + |
| +LED1_TOTALTIME (UserParam_7): ~60 //darf nicht größer als 255 gewählt werden |
| + |
| +info: |
| +wenn = 0, bleit LED1 dauerhaft AUS |
| +wenn >= 200, ist die LED1 dauerhaft AN |
| +dazwischen blinkt die LED1 unterschiedlich lange |
| + |
| + |
| +--------------------- |
| +LED1_ONTIME (UserParam_8): ~20 //darf nicht größer als 255 gewählt werden |
| + |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/_Setting_2_0_67ef_3.mkp |
|---|
| 0,0 → 1,64 |
| [Setup] |
| Name=Normal+GPS |
| GlobalConfig=43 |
| [Channels] |
| Gas=1 |
| Gier=2 |
| Nick=3 |
| Roll=4 |
| Poti_1=5 |
| Poti_2=6 |
| Poti_3=7 |
| Poti_4=8 |
| [Stick] |
| Nick_Roll-P=4 |
| Nick_Roll-D=0 |
| Gier-P=10 |
| [Altitude] |
| Setpoint=254 |
| MinGas=30 |
| P=10 |
| Barometric-D=50 |
| Z-ACC-Effect=50 |
| Gain=2 |
| [Gyro] |
| P=128 |
| I=160 |
| DynamicStability=75 |
| ACC_Gyro-Factor=26 |
| ACC_Gyro-Compensation=128 |
| DriftCompensation=4 |
| Main-I=8 |
| [Others] |
| MinGas=5 |
| MaxGas=250 |
| Compass-Effect=64 |
| UnderVoltage=94 |
| NotGas=66 |
| NotGasTime=20 |
| [User] |
| Parameter_1=80 |
| Parameter_2=0 |
| Parameter_3=0 |
| Parameter_4=0 |
| Parameter_5=251 |
| Parameter_6=252 |
| Parameter_7=60 |
| Parameter_8=20 |
| [Camera] |
| ServoNickControl=100 |
| ServoNickCompensation=40 |
| ServoNickInvert=0 |
| ServoNickMin=50 |
| ServoNickMax=150 |
| ServoNickRefreshRate=5 |
| [Loop] |
| Config=0 |
| GasLimit=50 |
| StickThreshold=90 |
| LoopHysteresis=50 |
| TurnOverNick=100 |
| TurnOverRoll=100 |
| [Coupling] |
| YawPosFeedback=100 |
| YawNegFeedback=10 |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/_Settings.h |
|---|
| 0,0 → 1,50 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Testmodi |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MOTOR_OFF 0 |
| #define MOTOR_TEST 0 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Abstimmung |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ACC_AMPLIFY 12 |
| #define FAKTOR_P 1 |
| #define FAKTOR_I 0.0001 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debug-Interface |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| #define MIN_DEBUG_INTERVALL 500 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Sender |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define K_NICK 0 |
| #define K_ROLL 1 |
| #define K_GAS 2 |
| #define K_GIER 3 |
| #define K_POTI1 4 |
| #define K_POTI2 5 |
| #define K_POTI3 6 |
| #define K_POTI4 7 |
| // +++++++++++++++++++++++++++++++ |
| // + Getestete Settings: |
| // +++++++++++++++++++++++++++++++ |
| // Setting: Kamera |
| // Stick_P:3 |
| // Stick_D:0 |
| // Gyro_P: 175 |
| // Gyro_I: 175 |
| // Ki_Anteil: 10 |
| // +++++++++++++++++++++++++++++++ |
| // + Getestete Settings: |
| // +++++++++++++++++++++++++++++++ |
| // Setting: Normal |
| // Stick_P:2 |
| // Stick_D:8 |
| // Gyro_P: 80 |
| // Gyro_I: 150 |
| // Ki_Anteil: 5 |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/analog.c |
|---|
| 0,0 → 1,147 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| ADMUX = 0;//Referenz ist extern |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| Delay_ms_Mess(100); |
| if(MessLuftdruck < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| DruckOffsetSetting = off; |
| Delay_ms_Mess(300); |
| } |
| //####################################################################################### |
| // |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| static unsigned int gier1, roll1, nick1; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| gier1 = ADC; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| roll1 = ADC; |
| kanal = 2; |
| break; |
| case 2: |
| nick1 = ADC; |
| kanal = 4; |
| break; |
| case 3: |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ay = NeutralAccY - ADC; |
| AdWertAccRoll = Aktuell_ay; |
| kanal = 7; |
| break; |
| case 5: |
| Aktuell_ax = ADC - NeutralAccX; |
| AdWertAccNick = Aktuell_ax; |
| kanal = 0; |
| break; |
| case 6: |
| if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
| else AdWertGier = ADC + gier1; |
| kanal = 1; |
| break; |
| case 7: |
| if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
| else AdWertRoll = ADC + roll1; |
| kanal = 2; |
| break; |
| case 8: |
| if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
| else AdWertNick = ADC + nick1; |
| //AdWertNick = 0; |
| //AdWertNick += Poti2; |
| kanal = 5; |
| break; |
| case 9: |
| AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(AdWertAccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(AdWertAccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| kanal = 3; |
| break; |
| case 10: |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| default: |
| kanal = 0; |
| state = 0; |
| break; |
| } |
| ADMUX = kanal; |
| if(state != 0) ANALOG_ON; |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/analog.h |
|---|
| 0,0 → 1,24 |
| /*####################################################################################### |
| #######################################################################################*/ |
| extern volatile int UBat; |
| extern volatile int AdWertNick, AdWertRoll, AdWertGier; |
| extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile int StartLuftdruck; |
| extern volatile char MessanzahlNick; |
| unsigned int ReadADC(unsigned char adc_input); |
| void ADC_Init(void); |
| void SucheLuftruckOffset(void); |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/compass.c |
|---|
| 0,0 → 1,247 |
| /* |
| Copyright 2007, Niklas Nold |
| This program (files compass.c and compass.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| #include "main.h" |
| struct MM3_calib_struct ee_calib EEMEM; // Reservierung im EEPROM |
| struct MM3_working_struct MM3; |
| struct MM3_calib_struct MM3_calib; |
| //############################################################################ |
| // Initialisierung |
| void init_MM3(void) |
| //############################################################################ |
| { |
| SPCR = (1<<SPIE)|(1<<SPE)|(1<<MSTR)|(1<<SPR1)|(1<<SPR0); //Interrupt an, Master, 156 kHz Oszillator |
| //SPSR = (1<<SPI2X); |
| DDRB |= (1<<PB7)|(1<<PB5)|(1<<PB2); // J8, MOSI, SCK Ausgang |
| DDRB &= ~(1<<PB6); // MISO Eingang |
| //PORTD &= ~(1<<PD3); // J5 auf Low |
| DDRC |= (1<<PC6); // J9 Output |
| PORTC &= ~(1<<PC6); // J9 auf Low |
| MM3.AXIS = MM3_X; |
| MM3.STATE = MM3_RESET; |
| // Kalibrierung aus dem EEprom lesen |
| eeprom_read_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
| } |
| //############################################################################ |
| // Wird in der SIGNAL (SIG_OVERFLOW0) aufgerufen |
| void timer0_MM3(void) |
| //############################################################################ |
| { |
| switch (MM3.STATE) |
| { |
| case MM3_RESET: |
| PORTB |= (1<<PB2); // J8 auf High, MM3 Reset |
| MM3.STATE = MM3_START_TRANSFER; |
| return; |
| case MM3_START_TRANSFER: |
| PORTB &= ~(1<<PB2); // J8 auf Low (war ~125 µs auf High) |
| if (MM3.AXIS == MM3_X) SPDR = 0x31; // Schreiben ins SPDR löst automatisch Übertragung (MOSI und MISO) aus |
| else if (MM3.AXIS == MM3_Y) SPDR = 0x32; // Micromag Period Select ist auf 256 (0x30) |
| else if (MM3.AXIS == MM3_Z) SPDR = 0x33; // 1: x-Achse, 2: Y-Achse, 3: Z-Achse |
| MM3.DRDY = SetDelay(8); // Laut Datenblatt max. Zeit bis Messung fertig (bei PS 256 eigentlich 4 ms) |
| MM3.STATE = MM3_WAIT_DRDY; |
| return; |
| case MM3_WAIT_DRDY: |
| if (CheckDelay(MM3.DRDY)) {SPDR = 0x00;MM3.STATE = MM3_DRDY;} // Irgendwas ins SPDR, damit Übertragung ausgelöst wird, wenn Wartezeit vorbei |
| return; // Jetzt gehts weiter in SIGNAL (SIG_SPI) |
| } |
| } |
| //############################################################################ |
| // SPI byte ready |
| SIGNAL (SIG_SPI) |
| //############################################################################ |
| { |
| static char tmp; |
| int wert; |
| switch (MM3.STATE) |
| { |
| case MM3_DRDY: // 1. Byte ist da, zwischenspeichern |
| tmp = SPDR; |
| SPDR = 0x00; // Übertragung von 2. Byte auslösen |
| MM3.STATE = MM3_BYTE2; |
| return; |
| case MM3_BYTE2: // 2. Byte der entsprechenden Achse ist da |
| wert = tmp; |
| wert <<= 8; // 1. Byte an MSB-Stelle rücken |
| wert |= SPDR; // 2. Byte dranpappen |
| if(abs(wert) < Max_Axis_Value) // Spikes filtern. Zuweisung nur, wenn Max-Wert nicht überschritten |
| switch (MM3.AXIS) |
| { |
| case MM3_X: |
| MM3.x_axis = wert; |
| MM3.AXIS = MM3_Y; |
| break; |
| case MM3_Y: |
| MM3.y_axis = wert; |
| MM3.AXIS = MM3_Z; |
| break; |
| case MM3_Z: |
| MM3.z_axis = wert; |
| MM3.AXIS = MM3_X; |
| } |
| MM3.STATE = MM3_RESET; |
| } |
| } |
| //############################################################################ |
| // Kompass kalibrieren |
| void calib_MM3(void) |
| //############################################################################ |
| { |
| signed int x_min=0,x_max=0,y_min=0,y_max=0,z_min=0,z_max=0; |
| uint8_t measurement=50,beeper=0; |
| unsigned int timer; |
| GRN_ON; |
| ROT_OFF; |
| while (measurement) |
| { |
| //H_earth = MM3.x_axis*MM3.x_axis + MM3.y_axis*MM3.y_axis + MM3.z_axis*MM3.z_axis; |
| if (MM3.x_axis > x_max) x_max = MM3.x_axis; |
| else if (MM3.x_axis < x_min) x_min = MM3.x_axis; |
| if (MM3.y_axis > y_max) y_max = MM3.y_axis; |
| else if (MM3.y_axis < y_min) y_min = MM3.y_axis; |
| if (MM3.z_axis > z_max) z_max = MM3.z_axis; |
| else if (MM3.z_axis < z_min) z_min = MM3.z_axis; |
| if (!beeper) |
| { |
| ROT_FLASH; |
| GRN_FLASH; |
| beeptime = 50; |
| beeper = 50; |
| } |
| beeper--; |
| // Schleife mit 100 Hz |
| timer = SetDelay(10); |
| while(!CheckDelay(timer)); |
| // Wenn Gas zurück genommen wird, Kalibrierung mit 1/2 Sekunde Verzögerung beenden |
| if (PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] < 100) measurement--; |
| } |
| // Wertebereich der Achsen |
| MM3_calib.X_range = (x_max - x_min); |
| MM3_calib.Y_range = (y_max - y_min); |
| MM3_calib.Z_range = (z_max - z_min); |
| // Offset der Achsen |
| MM3_calib.X_off = (x_max + x_min) / 2; |
| MM3_calib.Y_off = (y_max + y_min) / 2; |
| MM3_calib.Z_off = (z_max + z_min) / 2; |
| // und im EEProm abspeichern |
| eeprom_write_block(&MM3_calib,&ee_calib,sizeof(struct MM3_calib_struct)); |
| } |
| //############################################################################ |
| // Neigungskompensierung und Berechnung der Ausrichtung |
| signed int heading_MM3(void) |
| //############################################################################ |
| { |
| float sin_nick, cos_nick, sin_roll, cos_roll; |
| float x_corr, y_corr; |
| signed int x_axis,y_axis,z_axis,heading; |
| signed int nicktilt,rolltilt; |
| unsigned int div_faktor; |
| div_faktor = (uint16_t)EE_Parameter.UserParam1 * 8; |
| // Berechung von sinus und cosinus |
| nicktilt = (IntegralNick/div_faktor); |
| sin_nick = sin_f(nicktilt); |
| cos_nick = cos_f(nicktilt); |
| rolltilt = (IntegralRoll/div_faktor); |
| sin_roll = sin_f(rolltilt); |
| cos_roll = cos_f(rolltilt); |
| // Offset |
| x_axis = (MM3.x_axis - MM3_calib.X_off); |
| y_axis = (MM3.y_axis - MM3_calib.Y_off); |
| z_axis = (MM3.z_axis - MM3_calib.Z_off); |
| // Normierung Wertebereich |
| if ((MM3_calib.X_range > MM3_calib.Y_range) && (MM3_calib.X_range > MM3_calib.Z_range)) |
| { |
| y_axis = ((long)y_axis * MM3_calib.X_range) / MM3_calib.Y_range; |
| z_axis = ((long)z_axis * MM3_calib.X_range) / MM3_calib.Z_range; |
| } |
| else if ((MM3_calib.Y_range > MM3_calib.X_range) && (MM3_calib.Y_range > MM3_calib.Z_range)) |
| { |
| x_axis = ((long)x_axis * MM3_calib.Y_range) / MM3_calib.X_range; |
| z_axis = ((long)z_axis * MM3_calib.Y_range) / MM3_calib.Z_range; |
| } |
| else //if ((MM3_calib.Z_range > MM3_calib.X_range) && (MM3_calib.Z_range > MM3_calib.Y_range)) |
| { |
| x_axis = ((long)x_axis * MM3_calib.Z_range) / MM3_calib.X_range; |
| y_axis = ((long)y_axis * MM3_calib.Z_range) / MM3_calib.Y_range; |
| } |
| //DebugOut.Analog[9] = x_axis; |
| //DebugOut.Analog[10] = y_axis; |
| //DebugOut.Analog[11] = z_axis; |
| // Neigungskompensation |
| x_corr = x_axis * cos_nick; |
| x_corr += y_axis * sin_roll * sin_nick; |
| x_corr -= z_axis * cos_roll * sin_nick; |
| y_corr = y_axis * cos_roll; |
| y_corr += z_axis * sin_roll; |
| // Winkelberechnung |
| heading = atan2_i(x_corr, y_corr); |
| if (heading < 0) heading = -heading; |
| else heading = 360 - heading; |
| /* |
| if (!x_corr && y_corr <0) return (90); |
| if (!x_corr && y_corr >0) return (270); |
| heading = atan(y_corr/x_corr)*57.29578; |
| if (x_corr < 0) heading = 180-heading; |
| if (x_corr > 0 && y_corr < 0) heading = -heading; |
| if (x_corr > 0 && y_corr > 0) heading = 360 - heading; |
| */ |
| return (heading); |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/compass.d |
|---|
| 0,0 → 1,2 |
| compass.o compass.d : compass.c main.h old_macros.h _Settings.h printf_P.h timer0.h \ |
| uart.h analog.h twimaster.h menu.h rc.h fc.h gps.h spi.h mymath.h |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/compass.h |
|---|
| 0,0 → 1,44 |
| struct MM3_working_struct |
| { |
| uint8_t STATE; |
| unsigned int DRDY; |
| uint8_t AXIS; |
| volatile signed int x_axis; |
| volatile signed int y_axis; |
| volatile signed int z_axis; |
| }; |
| struct MM3_calib_struct |
| { |
| int8_t X_off; |
| int8_t Y_off; |
| int8_t Z_off; |
| uint16_t X_range; |
| uint16_t Y_range; |
| uint16_t Z_range; |
| }; |
| extern struct MM3_working_struct MM3; |
| extern struct MM3_calib_struct MM3_calib; |
| void init_MM3(void); |
| void timer0_MM3(void); |
| void calib_MM3(void); |
| signed int heading_MM3(void); |
| #define Max_Axis_Value 500 |
| // Die Werte der Statemachine |
| #define MM3_RESET 0 |
| #define MM3_START_TRANSFER 1 |
| #define MM3_WAIT_DRDY 2 |
| #define MM3_DRDY 3 |
| #define MM3_BYTE2 4 |
| #define MM3_X 5 |
| #define MM3_Y 6 |
| #define MM3_Z 7 |
| #define MM3_TILT 8 |
| #define MM3_IDLE 9 |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/eeprom.c |
|---|
| 0,0 → 1,182 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void DefaultKonstanten1(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 4; // Wert : 0-50 |
| EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 14; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 32 * 4; //zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| EE_Parameter.AchsKopplung1 = 100; |
| EE_Parameter.AchsGegenKopplung1 = 10; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 50; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 100; |
| memcpy(EE_Parameter.Name, "Sport\0", 12); |
| } |
| void DefaultKonstanten2(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = CFG_ACHSENKOPPLUNG_AKTIV;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 10; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 32; |
| EE_Parameter.UserParam1 = 20 * 4; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 100; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
| EE_Parameter.AchsGegenKopplung1 = 10; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 100; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 75; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| } |
| void DefaultKonstanten3(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = CFG_DREHRATEN_BEGRENZER | CFG_ACHSENKOPPLUNG_AKTIV;///*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-250 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 3; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 8; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 200; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 94; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 10; |
| EE_Parameter.UserParam1 = 20 * 4; // zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam5 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam6 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam7 = 0; // zur freien Verwendung |
| EE_Parameter.UserParam8 = 0; // zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| EE_Parameter.LoopGasLimit = 50; |
| EE_Parameter.LoopThreshold = 90; // Wert: 0-250 Schwelle für Stickausschlag |
| EE_Parameter.LoopHysterese = 50; |
| EE_Parameter.LoopConfig = 0; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts |
| EE_Parameter.AchsKopplung1 = 100; // Faktor, mit dem Gier die Achsen Roll und Nick verkoppelt |
| EE_Parameter.AchsGegenKopplung1 = 10; |
| EE_Parameter.WinkelUmschlagNick = 100; |
| EE_Parameter.WinkelUmschlagRoll = 100; |
| EE_Parameter.GyroAccAbgleich = 100; // 1/k |
| EE_Parameter.Driftkomp = 4; |
| EE_Parameter.DynamicStability = 50; |
| memcpy(EE_Parameter.Name, "Beginner\0", 12); |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/fc.c |
|---|
| 0,0 → 1,1273 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "eeprom.c" |
| unsigned char h,m,s; |
| volatile unsigned int I2CTimeout = 100; |
| volatile int MesswertNick,MesswertRoll,MesswertGier; |
| volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| volatile float NeutralAccZ = 0; |
| unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| volatile long IntegralNick = 0,IntegralNick2 = 0; |
| volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| volatile long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
| volatile long Integral_Gier = 0; |
| volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| volatile long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
| volatile long Mess_Integral_Hoch = 0; |
| volatile int KompassValue = 0; |
| volatile int KompassStartwert = 0; |
| volatile int KompassRichtung = 0; |
| #ifdef MM3IS |
| uint8_t updKompass = 0; |
| #endif |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char Notlandung = 0; |
| unsigned char HoehenReglerAktiv = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| unsigned char blinkcount_LED1 = 0;//Hilfszähler für die blinkende LED (310807Kr) |
| unsigned char LED1_TOTALTIME = 0;//Parameter für Blinkverhalten von LED1 (091207Kr) |
| unsigned char LED1_ONTIME = 0;//Parameter für Blinkverhalten von LED1 (091207Kr) |
| unsigned int modell_fliegt_gps = 0;//(030907Kr) |
| float GyroFaktor; |
| float IntegralFaktor; |
| volatile int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; //PPM24-Erweiterung (121007Kr) |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0; |
| char MotorenEin = 0; |
| int HoehenWert = 0; |
| int SollHoehe = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
| float Ki = FAKTOR_I; |
| unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| unsigned char Parameter_UserParam1 = 0; |
| unsigned char Parameter_UserParam2 = 0; |
| unsigned char Parameter_UserParam3 = 0; |
| unsigned char Parameter_UserParam4 = 0; |
| unsigned char Parameter_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 0; |
| unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| struct mk_param_struct EE_Parameter; |
| signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
| #ifdef MM3IS |
| struct mk_param_struct EE_Parameter; |
| struct acc_neutral_struct ee_acc_neutral EEMEM; // Reservierung im EEPROM |
| struct acc_neutral_struct acc_neutral; |
| #endif |
| void Piep(unsigned char Anzahl) |
| { |
| while(Anzahl--) |
| { |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| beeptime = 100; |
| Delay_ms(250); |
| } |
| } |
| #ifdef MM3IS |
| //############################################################################ |
| // Neutrallage kalibrieren und fest im EEPROM abspeichern |
| void calib_acc(void) |
| //############################################################################ |
| { |
| acc_neutral.X = 0; |
| acc_neutral.Y = 0; |
| acc_neutral.Z = 0; |
| CalibrierMittelwert(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| acc_neutral.X = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| acc_neutral.Y = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| acc_neutral.Z = Aktuell_az; |
| eeprom_write_block(&acc_neutral,&ee_acc_neutral,sizeof(struct acc_neutral_struct)); |
| } |
| #endif |
| //############################################################################ |
| // Nullwerte ermitteln |
| void SetNeutral(void) |
| //############################################################################ |
| { |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsGegenKopplung1 = 0; |
| CalibrierMittelwert(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| AdNeutralNick= AdWertNick; |
| AdNeutralRoll= AdWertRoll; |
| AdNeutralGier= AdWertGier; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| NeutralAccZ = Aktuell_az; |
| } |
| else |
| { |
| NeutralAccX = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1]); |
| NeutralAccY = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1]); |
| NeutralAccZ = (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z]) * 256 + (int)eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1]); |
| } |
| Mess_IntegralNick = 0; |
| Mess_IntegralNick2 = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralRoll2 = 0; |
| Mess_Integral_Gier = 0; |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| StartLuftdruck = Luftdruck; |
| HoeheD = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| beeptime = 50; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| ExternHoehenValue = 0; |
| } |
| //############################################################################ |
| // Bearbeitet die Messwerte |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| static signed long tmpl,tmpl2; |
| MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| MesswertRoll = (signed int) AdWertRoll - AdNeutralRoll; |
| MesswertNick = (signed int) AdWertNick - AdNeutralNick; |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = ((long)Mittelwert_AccNick * 1 + ((ACC_AMPLIFY * (long)AdWertAccNick))) / 2L; |
| Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 1 + ((ACC_AMPLIFY * (long)AdWertAccRoll))) / 2L; |
| Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 1 + ((long)AdWertAccHoch)) / 2L; |
| IntegralAccNick += ACC_AMPLIFY * AdWertAccNick; |
| IntegralAccRoll += ACC_AMPLIFY * AdWertAccRoll; |
| IntegralAccZ += Aktuell_az - NeutralAccZ; |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_Integral_Gier += MesswertGier; |
| Mess_Integral_Gier2 += MesswertGier; |
| // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
| { |
| tmpl = Mess_IntegralNick / 4096L; |
| tmpl *= MesswertGier; |
| tmpl *= Parameter_AchsKopplung1; //125 |
| tmpl /= 2048L; |
| tmpl2 = Mess_IntegralRoll / 4096L; |
| tmpl2 *= MesswertGier; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 2048L; |
| } |
| else tmpl = tmpl2 = 0; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertRoll += tmpl; |
| MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
| Mess_IntegralRoll2 += MesswertRoll; |
| Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
| if(Mess_IntegralRoll > Umschlag180Roll) |
| { |
| Mess_IntegralRoll = -(Umschlag180Roll - 10000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(Mess_IntegralRoll <-Umschlag180Roll) |
| { |
| Mess_IntegralRoll = (Umschlag180Roll - 10000L); |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| } |
| if(AdWertRoll < 15) MesswertRoll = -1000; |
| if(AdWertRoll < 7) MesswertRoll = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdWertRoll > 1010) MesswertRoll = +1000; |
| if(AdWertRoll > 1017) MesswertRoll = +2000; |
| } |
| else |
| { |
| if(AdWertRoll > 2020) MesswertRoll = +1000; |
| if(AdWertRoll > 2034) MesswertRoll = +2000; |
| } |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertNick -= tmpl2; |
| MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
| Mess_IntegralNick2 += MesswertNick; |
| Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
| if(Mess_IntegralNick > Umschlag180Nick) |
| { |
| Mess_IntegralNick = -(Umschlag180Nick - 10000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(Mess_IntegralNick <-Umschlag180Nick) |
| { |
| Mess_IntegralNick = (Umschlag180Nick - 10000L); |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| } |
| if(AdWertNick < 15) MesswertNick = -1000; |
| if(AdWertNick < 7) MesswertNick = -2000; |
| if(PlatinenVersion == 10) |
| { |
| if(AdWertNick > 1010) MesswertNick = +1000; |
| if(AdWertNick > 1017) MesswertNick = +2000; |
| } |
| else |
| { |
| if(AdWertNick > 2020) MesswertNick = +1000; |
| if(AdWertNick > 2034) MesswertNick = +2000; |
| } |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ANALOG_ON; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| Integral_Gier = Mess_Integral_Gier; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| //------------------------------------------------------------------------------ |
| if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll && !(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD)) //um Heading_Hold erweitert //(071107Kr) |
| { |
| if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| } |
| //------------------------------------------------------------------------------ |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| //PPM24-Erweiterung (121007Kr) |
| if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| //PPM24-Erweiterung (121007Kr) |
| if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| MesswertNick = AdWertNick; |
| MesswertRoll = AdWertRoll; |
| MesswertGier = AdWertGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
| Mittelwert_AccHoch = (long)AdWertAccHoch; |
| // ADC einschalten |
| ANALOG_ON; |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| //PPM24-Erweiterung (121007Kr) |
| if(Poti5 < PPM_in[9] + 110) Poti5++; else if(Poti5 > PPM_in[9] + 110 && Poti5) Poti5--; |
| if(Poti6 < PPM_in[10] + 110) Poti6++; else if(Poti6 > PPM_in[10] + 110 && Poti6) Poti6--; |
| if(Poti7 < PPM_in[11] + 110) Poti7++; else if(Poti7 > PPM_in[11] + 110 && Poti7) Poti7--; |
| if(Poti8 < PPM_in[12] + 110) Poti8++; else if(Poti8 > PPM_in[12] + 110 && Poti8) Poti8--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| //PPM24-Erweiterung (121007Kr) |
| if(Poti5 < 0) Poti5 = 0; else if(Poti5 > 255) Poti5 = 255; |
| if(Poti6 < 0) Poti6 = 0; else if(Poti6 > 255) Poti6 = 255; |
| if(Poti7 < 0) Poti7 = 0; else if(Poti7 > 255) Poti7 = 255; |
| if(Poti8 < 0) Poti8 = 0; else if(Poti8 > 255) Poti8 = 255; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| } |
| //############################################################################ |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| if(MOTOR_OFF || !MotorenEin) |
| { |
| Motor_Hinten = 0; |
| Motor_Vorne = 0; |
| Motor_Rechts = 0; |
| Motor_Links = 0; |
| if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| } |
| // DebugOut.Analog[12] = Motor_Vorne; |
| // DebugOut.Analog[13] = Motor_Hinten; |
| // DebugOut.Analog[14] = Motor_Links; |
| // DebugOut.Analog[15] = Motor_Rechts; |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| i2c_start(); |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
| CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
| CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
| Ki = (float) Parameter_I_Faktor * 0.0001; |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| { |
| int motorwert,pd_ergebnis,h,tmp_int; |
| int GierMischanteil,GasMischanteil; |
| static long SummeNick=0,SummeRoll=0; |
| static long sollGier = 0,tmp_long,tmp_long2; |
| static long IntegralFehlerNick = 0; |
| static long IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static unsigned int modell_fliegt = 0; |
| static int hoehenregler = 0; |
| static char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| static long ausgleichNick, ausgleichRoll; |
| Mittelwert(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20; |
| if(GasMischanteil < 0) GasMischanteil = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| if(!PcZugriff) |
| { |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| } |
| } |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| Notlandung = 0; |
| } |
| ROT_ON; |
| if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = EE_Parameter.NotGas; |
| Notlandung = 1; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| } |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| Notlandung = 0; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| modell_fliegt_gps = modell_fliegt;// (030907Kr) |
| } |
| if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| } |
| if((GasMischanteil > 200) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| unsigned char setting=1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| } |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SetNeutral(); |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| else |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) // ACC Neutralwerte speichern |
| { |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| GRN_OFF; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],0xff); // Werte löschen |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| SetNeutral(); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],NeutralAccX / 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],NeutralAccX % 256); // ACC-NeutralWerte speichern |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],NeutralAccY / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],NeutralAccY % 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)NeutralAccZ / 256); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)NeutralAccZ % 256); |
| Piep(GetActiveParamSetNumber()); |
| } |
| } |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(GasMischanteil < 35) |
| { |
| // Starten |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 200; |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| } |
| } |
| else delay_einschalten = 0; |
| //Auf Neutralwerte setzen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 200; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || Notlandung) |
| { |
| int tmp_int; |
| ParameterZuordnung(); |
| StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| #define KEY_VALUE (Parameter_UserParam1 * 4) //(Poti3 * 8) |
| if(DubWiseKeys[1]) beeptime = 10; |
| if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
| if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
| if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
| ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
| if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
| if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
| if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
| if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
| StickNick += ExternStickNick / 8; |
| StickRoll += ExternStickRoll / 8; |
| StickGier += ExternStickGier; |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(GyroFaktor < 0) GyroFaktor = 0; |
| if(IntegralFaktor < 0) IntegralFaktor = 0; |
| // greift in den Stick ein, um ungewolltes überschlagen zu verhindern |
| //bei aktiviertem GPS dürfen die Stickwerte nicht beeinflusst werden, da ansonsten ein Neulernen der Sollposition stattfinden könnte //(051107Kr) |
| if(!(EE_Parameter.LoopConfig & CFG_LOOP_LINKS) && !(EE_Parameter.LoopConfig & CFG_LOOP_RECHTS) && !(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) && !(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD)) //(051107Kr) |
| { |
| if(IntegralNick > 60000) |
| { |
| StickNick -= 8 * EE_Parameter.Stick_P; |
| if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P; |
| } |
| else |
| if(IntegralNick < -60000) |
| { |
| StickNick += 8 * EE_Parameter.Stick_P; |
| if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P; |
| } |
| if(IntegralRoll > 60000) |
| { |
| StickRoll -= 8 * EE_Parameter.Stick_P; |
| if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P; |
| } |
| else |
| if(IntegralRoll < -60000) |
| { |
| StickRoll += 8 * EE_Parameter.Stick_P; |
| if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // LED Stuff |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| LED1_TOTALTIME = Parameter_UserParam7; |
| LED1_ONTIME = Parameter_UserParam8; |
| LED1_OFF; |
| if(LED1_TOTALTIME >= 200) |
| { |
| LED1_ON; |
| blinkcount_LED1 = 0; |
| } |
| else if(blinkcount_LED1 >= LED1_TOTALTIME && LED1_TOTALTIME > 0 && MotorenEin == 1) |
| { |
| LED1_ON; |
| if(blinkcount_LED1 >= LED1_ONTIME + LED1_TOTALTIME) |
| { |
| LED1_OFF; |
| blinkcount_LED1 = 0; |
| } |
| } |
| blinkcount_LED1++; |
| //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] > 75) LED1_ON; else LED1_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| //if(PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] > 75) LED2_ON; else LED2_OFF; //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Looping? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
| else |
| { |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
| else |
| { |
| if(Looping_Rechts) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
| else |
| { |
| if(Looping_Oben) // Hysterese |
| { |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
| } |
| } |
| if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
| else |
| { |
| if(Looping_Unten) // Hysterese |
| { |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
| } |
| } |
| if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
| if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
| } // Ende neue Funken-Werte |
| if(Looping_Roll) beeptime = 100; |
| if(Looping_Roll || Looping_Nick) |
| { |
| if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 0.1; |
| IntegralFaktor = 0.005; |
| Looping_Roll = 0; |
| Looping_Nick = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ABGLEICH_ANZAHL 256L |
| MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| MittelIntegralRoll += IntegralRoll; |
| MittelIntegralNick2 += IntegralNick2; |
| MittelIntegralRoll2 += IntegralRoll2; |
| if(Looping_Nick || Looping_Roll) |
| { |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| Mess_IntegralNick2 = Mess_IntegralNick; |
| Mess_IntegralRoll2 = Mess_IntegralRoll; |
| ZaehlMessungen = 0; |
| LageKorrekturNick = 0; |
| LageKorrekturRoll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!Looping_Nick && !Looping_Roll) |
| { |
| long tmp_long, tmp_long2; |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long /= 16; |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long2 /= 16; |
| #define AUSGLEICH 32 //(Parameter_UserParam1 / 2) |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
| { |
| static int cnt = 0; |
| static char last_n_p,last_n_n,last_r_p,last_r_n; |
| static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
| if(!Looping_Nick && !Looping_Roll) |
| { |
| MittelIntegralNick /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll /= ABGLEICH_ANZAHL; |
| IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
| IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
| IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
| #define MAX_I 0//(Poti2/10) |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
| ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
| ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
| LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
| // Mess_IntegralNick -= ausgleichNick; |
| // Mess_IntegralRoll -= ausgleichRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
| MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
| // tmp_long = (long)(MittelIntegralNick2 - (long)IntegralAccNick); |
| // tmp_long2 = (long)(MittelIntegralRoll2 - (long)IntegralAccRoll); |
| tmp_long = IntegralNick2 - IntegralNick; |
| tmp_long2 = IntegralRoll2 - IntegralRoll; |
| //DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
| IntegralFehlerNick = tmp_long; |
| IntegralFehlerRoll = tmp_long2; |
| Mess_IntegralNick2 -= IntegralFehlerNick; |
| Mess_IntegralRoll2 -= IntegralFehlerRoll; |
| // IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
| // IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
| //DebugOut.Analog[17] = IntegralAccNick / 26; |
| //DebugOut.Analog[18] = IntegralAccRoll / 26; |
| //DebugOut.Analog[19] = IntegralFehlerNick;// / 26; |
| //DebugOut.Analog[20] = IntegralFehlerRoll;// / 26; |
| //DebugOut.Analog[21] = MittelIntegralNick / 26; |
| //DebugOut.Analog[22] = MittelIntegralRoll / 26; |
| //DebugOut.Analog[28] = ausgleichNick; |
| //DebugOut.Analog[29] = ausgleichRoll; |
| //DebugOut.Analog[30] = LageKorrekturRoll * 10; |
| #define FEHLER_LIMIT (ABGLEICH_ANZAHL * 4) |
| #define FEHLER_LIMIT2 (ABGLEICH_ANZAHL * 16) |
| #define BEWEGUNGS_LIMIT 20000 |
| // Nick +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| if(labs(MittelIntegralNick_Alt - MittelIntegralNick) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerNick > FEHLER_LIMIT2) |
| { |
| if(last_n_p) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick > 5000) ausgleichNick = 5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_p = 1; |
| } else last_n_p = 0; |
| if(IntegralFehlerNick < -FEHLER_LIMIT2) |
| { |
| if(last_n_n) |
| { |
| cnt += labs(IntegralFehlerNick) / FEHLER_LIMIT2; |
| ausgleichNick = IntegralFehlerNick / 8; |
| if(ausgleichNick < -5000) ausgleichNick = -5000; |
| LageKorrekturNick += ausgleichNick / ABGLEICH_ANZAHL; |
| } |
| else last_n_n = 1; |
| } else last_n_n = 0; |
| } else cnt = 0; |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
| if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
| // Roll +++++++++++++++++++++++++++++++++++++++++++++++++ |
| cnt = 1;// + labs(IntegralFehlerNick) / 4096; |
| ausgleichRoll = 0; |
| if(labs(MittelIntegralRoll_Alt - MittelIntegralRoll) < BEWEGUNGS_LIMIT) |
| { |
| if(IntegralFehlerRoll > FEHLER_LIMIT2) |
| { |
| if(last_r_p) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll > 5000) ausgleichRoll = 5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_p = 1; |
| } else last_r_p = 0; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT2) |
| { |
| if(last_r_n) |
| { |
| cnt += labs(IntegralFehlerRoll) / FEHLER_LIMIT2; |
| ausgleichRoll = IntegralFehlerRoll / 8; |
| if(ausgleichRoll < -5000) ausgleichRoll = -5000; |
| LageKorrekturRoll += ausgleichRoll / ABGLEICH_ANZAHL; |
| } |
| else last_r_n = 1; |
| } else last_r_n = 0; |
| } else |
| { |
| cnt = 0; |
| } |
| //DebugOut.Analog[27] = ausgleichRoll; |
| if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
| //if(cnt > 1) beeptime = 50; |
| if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
| if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
| //DebugOut.Analog[23] = AdNeutralNick;//10*(AdNeutralNick - StartNeutralNick); |
| //DebugOut.Analog[24] = 10*(AdNeutralRoll - StartNeutralRoll); |
| } |
| else |
| { |
| LageKorrekturRoll = 0; |
| LageKorrekturNick = 0; |
| } |
| if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick_Alt = MittelIntegralNick; |
| MittelIntegralRoll_Alt = MittelIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| IntegralAccNick = 0; |
| IntegralAccRoll = 0; |
| IntegralAccZ = 0; |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| MittelIntegralNick2 = 0; |
| MittelIntegralRoll2 = 0; |
| ZaehlMessungen = 0; |
| } |
| //DebugOut.Analog[31] = StickRoll / (26*IntegralFaktor); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickGier) > 20) // war 35 |
| { |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| } |
| tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #ifdef MM3IS |
| /* 131207 WM */ |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| int w,v; |
| if (!updKompass--) // Aufruf mit ~10 Hz |
| { |
| updKompass = 50; |
| KompassValue = heading_MM3(); |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| } |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if (v > w) w = v; // grösste Neigung ermitteln |
| if (w < 35 && NeueKompassRichtungMerken) |
| { |
| KompassStartwert = KompassValue; |
| NeueKompassRichtungMerken = 0; |
| } |
| w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if (w > 0) |
| { |
| Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| } |
| else beeptime = 500; |
| } |
| #endif |
| /* 131207 WM*/ |
| #ifndef MM3IS |
| if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| { |
| int w,v; |
| static int SignalSchlecht = 0; |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| { |
| KompassStartwert = KompassValue; |
| NeueKompassRichtungMerken = 0; |
| } |
| w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if(w > 0) |
| { |
| if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| if(SignalSchlecht) SignalSchlecht--; |
| } |
| else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| } |
| #endif |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // GPS |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) |
| { |
| P_GPS_Verstaerkung = Parameter_UserParam5; |
| D_GPS_Verstaerkung = Parameter_UserParam6; |
| gps_main(); |
| } |
| else |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 24; |
| DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[2] = Mittelwert_AccNick; |
| DebugOut.Analog[3] = Mittelwert_AccRoll; |
| DebugOut.Analog[4] = P_GPS_Verstaerkung; |
| DebugOut.Analog[5] = D_GPS_Verstaerkung; |
| DebugOut.Analog[6] = Soll_Position_North; |
| DebugOut.Analog[7] = Soll_Position_East; |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = SenderOkay; |
| DebugOut.Analog[11] = actualPos.GPSFix; |
| DebugOut.Analog[12] = (motor_rx[0]+motor_rx[1]+motor_rx[2]+motor_rx[3]); //Gesamtstrom |
| DebugOut.Analog[13] = actualPos.GSpeed; //Geschwindigkeit über Grund |
| DebugOut.Analog[14] = actualPos.northing; |
| DebugOut.Analog[15] = actualPos.easting; |
| DebugOut.Analog[16] = Poti3; |
| DebugOut.Analog[17] = actualPos.altitude; |
| DebugOut.Analog[18] = GPS_Home_North; |
| DebugOut.Analog[19] = GPS_Home_East; |
| DebugOut.Analog[20] = GPS_Positionsabweichung_North; |
| DebugOut.Analog[21] = GPS_Positionsabweichung_East; |
| DebugOut.Analog[22] = P_Einfluss_North; |
| DebugOut.Analog[23] = P_Einfluss_East; |
| DebugOut.Analog[24] = D_Einfluss_North; |
| DebugOut.Analog[25] = D_Einfluss_East; |
| DebugOut.Analog[26] = NORTH_MITTEL; |
| DebugOut.Analog[27] = EAST_MITTEL; |
| DebugOut.Analog[28] = GPS_Nick; |
| DebugOut.Analog[29] = GPS_Roll; |
| DebugOut.Analog[30] = StickNick; |
| DebugOut.Analog[31] = StickRoll; |
| //DebugOut.Analog[xx] = motor_rx[0]; //Motorstrom vorne |
| //DebugOut.Analog[xx] = motor_rx[1]; //Motorstrom hinten |
| //DebugOut.Analog[xx] = motor_rx[2]; //Motorstrom links |
| //DebugOut.Analog[xx] = motor_rx[3]; //Motorstrom rechts |
| //DebugOut.Analog[xx] = actualPos.velNorth; |
| //DebugOut.Analog[xx] = actualPos.velEast; |
| //DebugOut.Analog[xx] = Parameter_UserParam3; |
| //DebugOut.Analog[xx] = Parameter_UserParam4; |
| //DebugOut.Analog[xx] = StickGier; |
| //DebugOut.Analog[xx] = GPS_North; |
| //DebugOut.Analog[xx] = GPS_East; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
| else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
| else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| // MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| MesswertGier = MesswertGier * (GyroFaktor) + Integral_Gier * IntegralFaktor/2; |
| //DebugOut.Analog[28] = MesswertRoll; |
| //DebugOut.Analog[25] = IntegralRoll * IntegralFaktor; |
| //DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor); |
| // Maximalwerte abfangen |
| #define MAX_SENSOR 2048 |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
| if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //OCR0B = 180 - (Poti1 + 120) / 4; |
| //DruckOffsetSetting = OCR0B; |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| { |
| int tmp_int; |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { |
| if(Parameter_MaxHoehe < 50) |
| { |
| SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| HoehenReglerAktiv = 0; |
| } |
| else |
| HoehenReglerAktiv = 1; |
| } |
| else |
| { |
| SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
| HoehenReglerAktiv = 1; |
| } |
| if(Notlandung) SollHoehe = 0; |
| h = HoehenWert; |
| if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| h = GasMischanteil - h; // vom Gas abziehen |
| h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| if(tmp_int > 50) tmp_int = 50; |
| else if(tmp_int < -50) tmp_int = -50; |
| h -= tmp_int; |
| hoehenregler = (hoehenregler*15 + h) / 16; |
| if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| { |
| if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| } |
| if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| GasMischanteil = hoehenregler; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // DebugOut.Analog[7] = GasMischanteil; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MUL_G 1.0 |
| GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| //GierMischanteil = 0; |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil)); |
| if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil)); |
| if(GasMischanteil < 20) GierMischanteil = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - (StickNick - GPS_Nick); // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > 0) SummeNick-= 2 ; else SummeNick += 2 ; |
| if(SummeNick > 16000) SummeNick = 16000; |
| if(SummeNick < -16000) SummeNick = -16000; |
| pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| // Motor Vorn |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Vorne = motorwert; |
| // Motor Heck |
| motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Hinten = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = MesswertRoll - (StickRoll - GPS_Roll); // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRoll * IntegralFaktor - (StickRoll - GPS_Roll);// I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > 0) SummeRoll-= 2 ; else SummeRoll += 2 ; |
| if(SummeRoll > 16000) SummeRoll = 16000; |
| if(SummeRoll < -16000) SummeRoll = -16000; |
| pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis > tmp_int) pd_ergebnis = tmp_int; |
| if(pd_ergebnis < -tmp_int) pd_ergebnis = -tmp_int; |
| // Motor Links |
| motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Links = motorwert; |
| // Motor Rechts |
| motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Rechts = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++ |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/fc.h |
|---|
| 0,0 → 1,162 |
| /*####################################################################################### |
| Flight Control |
| #######################################################################################*/ |
| #ifndef _FC_H |
| #define _FC_H |
| extern volatile unsigned int I2CTimeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long IntegralAccNick,IntegralAccRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| extern long Umschlag180Nick, Umschlag180Roll; |
| extern signed int ExternStickNick,ExternStickRoll,ExternStickGier; |
| extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| extern unsigned int modell_fliegt_gps;//(030907Kr) |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| void Piep(unsigned char Anzahl); |
| extern void DefaultKonstanten(void); |
| void DefaultKonstanten1(void); |
| void DefaultKonstanten2(void); |
| extern unsigned char h,m,s; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Integral_Gier; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Gier; |
| extern volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4, Poti5, Poti6, Poti7, Poti8; //PPM24-Erweiterung (121007Kr) |
| extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| extern unsigned char MotorWert[5]; |
| extern volatile unsigned char SenderOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern void DefaultKonstanten1(void); |
| extern void DefaultKonstanten2(void); |
| #define STRUCT_PARAM_LAENGE 71 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
| unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
| unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
| unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
| unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
| unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
| unsigned char Driftkomp; |
| unsigned char DynamicStability; |
| unsigned char UserParam5; // Wert : 0-250 |
| unsigned char UserParam6; // Wert : 0-250 |
| unsigned char UserParam7; // Wert : 0-250 |
| unsigned char UserParam8; // Wert : 0-250 |
| //------------------------------------------------ |
| unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[4]; |
| char Name[12]; |
| }; |
| /* |
| unsigned char ServoNickMax; // Wert : 0-250 |
| unsigned char ServoNickRefresh; // |
| unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
| unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
| //------------------------------------------------ |
| unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
| unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
| unsigned char Reserved[4]; |
| char Name[12]; |
| */ |
| extern struct mk_param_struct EE_Parameter; |
| extern unsigned char Parameter_Luftdruck_D; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| extern unsigned char Parameter_Gyro_P; |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsGegenKopplung1; |
| /*+++++++++++++++++++++++++++++++++++++++++++ 131207WM */ |
| #ifdef MM3IS |
| struct acc_neutral_struct |
| { |
| volatile int X; |
| volatile int Y; |
| volatile float Z; |
| }; |
| extern struct acc_neutral_struct acc_neutral; |
| extern void calib_acc(void); |
| #endif |
| /*+++++++++++++++++++++++++++++++++++++++++++ 131207WM */ |
| #endif //_FC_H |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/flight.pnproj |
|---|
| 0,0 → 1,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="eeprom.c"></File><File path="compass.h"></File><File path="compass.c"></File><File path="mymath.h"></File><File path="mymath.c"></File></Project> |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/flight.pnps |
|---|
| 0,0 → 1,0 |
| <pd><ViewState><e p="Flight-Ctrl" x="true"></e></ViewState></pd> |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/gps.h |
|---|
| 0,0 → 1,28 |
| extern long P_Einfluss_North; |
| extern long D_Einfluss_North; |
| extern long P_Einfluss_East; |
| extern long D_Einfluss_East; |
| extern long GPS_Positionsabweichung_North; |
| extern long GPS_Positionsabweichung_East; |
| extern long GPS_Geschwindigkeit_North; |
| extern long GPS_Geschwindigkeit_East; |
| extern long GPS_Home_North; |
| extern long GPS_Home_East; |
| extern long Soll_Position_North; |
| extern long Soll_Position_East; |
| extern volatile long EAST_MITTEL; |
| extern volatile long NORTH_MITTEL; |
| extern signed int GPS_North; |
| extern signed int GPS_East; |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void gps_main(void); |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/main.c |
|---|
| 0,0 → 1,273 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt und genannt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
| // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #ifdef MM3IS |
| #include "compass.c" |
| #endif |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| unsigned char PlatinenVersion = 10; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| } |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| if(number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| unsigned char set; |
| set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
| if(set > 5) |
| { |
| set = 2; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
| } |
| return(set); |
| } |
| //############################################################################ |
| //Hauptprogramm |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer; |
| //unsigned int timer2 = 0; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
| DDRC = ((1<<7)|(1<<6)|(1<<0)); // SCL, J9, Speaker Output |
| PORTC = 0xBf; // Pullup SDA, J9 low |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x01; // LED_Rot |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| DDRD |=0x80; // J7 |
| PORTD = 0xF7; // LED |
| MCUSR &=~(1<<WDRF); |
| WDTCSR |= (1<<WDCE)|(1<<WDE); |
| WDTCSR = 0; |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| Timer_Init(); |
| UART_Init(); |
| UART1_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| i2c_init(); |
| #ifdef MM3IS |
| init_MM3(); //Achtung ist konkurierend mit SPI_MasterInit(); 131207WM |
| #endif |
| // SPI_MasterInit(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl\n\rHardware:%d.%d\n\rSoftware:V%d.%d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX + 'a'); |
| printf("\n\r=============================="); |
| GRN_ON; |
| #define EE_DATENREVISION 68 // wird angepasst, wenn sich die EEPROM-Daten geändert haben |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != EE_DATENREVISION) |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); // Kamera |
| if(i==3) DefaultKonstanten3(); // Beginner |
| if(i>3) DefaultKonstanten2(); // Kamera |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 3); // default-Setting |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], EE_DATENREVISION); |
| } |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACC_NICK]) > 4) |
| { |
| printf("\n\rACC nicht abgeglichen!"); |
| } |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| #ifdef MM3IS |
| /*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 131207WM*/ |
| //kurze Wartezeit (sonst reagiert die "Kompass kalibrieren?"-Abfrage nicht |
| timer = SetDelay(500); |
| while(!CheckDelay(timer)); |
| //Kompass kalibrieren? |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 100) |
| { |
| printf("\n\rKalibriere Kompass"); |
| calib_MM3(); |
| } |
| //Neutrallage kalibrieren? |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] > 100 && PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -100) |
| { |
| printf("\n\rKalibriere Neutrallage"); |
| calib_acc(); |
| } |
| /*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ 131207WM*/ |
| #endif |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(1000); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| I2CTimeout = 5000; |
| while (1) |
| { |
| if (UpdateMotor) // ReglerIntervall |
| { |
| // SPI_TransmitByte(); |
| UpdateMotor=0; |
| //PORTD |= 0x08; |
| MotorRegler(); |
| //PORTD &= ~0x08; |
| SendMotorData(); |
| ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| DubWiseKeys[0] = 0; |
| DubWiseKeys[1] = 0; |
| ExternStickNick = 0; |
| ExternStickRoll = 0; |
| ExternStickGier = 0; |
| } |
| if(SenderOkay) SenderOkay--; |
| if(!I2CTimeout) |
| { |
| I2CTimeout = 5; |
| i2c_reset(); |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 10000; |
| BeepMuster = 0x0080; |
| } |
| } |
| else |
| { |
| I2CTimeout--; |
| ROT_OFF; |
| } |
| } |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer)) |
| { |
| if(UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| if(BeepMuster == 0xffff) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| // SPI_StartTransmitPacket(); |
| timer = SetDelay(100); |
| } |
| } |
| return (1); |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/main.h |
|---|
| 0,0 → 1,126 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| #define MM3IS 0x01 //iuf define is set MM3 is used, put in comment to switch back to cmps Compass module |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| //#define SYSCLK 16000000L //Quarz Frequenz in Hz |
| #endif |
| // neue Hardware |
| #define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
| #define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;} |
| #define ROT_FLASH PORTB ^= 0x01 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTB ^= 0x02 |
| #define LED1_OFF PORTC &=~0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED1_ON PORTC |= 0x04 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED1_FLASH PORTC ^= 0x04 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
| #define LED2_OFF PORTC &=~0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED2_ON PORTC |= 0x08 //Erweiterung von Smartie aus dem MK-Forum vom 14.06.07. Dadurch können die Transistorausgänge J16 und J17 geschaltet werden. // (160607Kr) |
| #define LED2_FLASH PORTC ^= 0x08 //Erweiterung by 4ndreas aus mikrosvn branches // (280807Kr) |
| #define F_CPU SYSCLK |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define EEPROM_ADR_LAST_OFFSET 3 |
| #define EEPROM_ADR_ACC_NICK 4 |
| #define EEPROM_ADR_ACC_ROLL 6 |
| #define EEPROM_ADR_ACC_Z 8 |
| #define EEPROM_ADR_PARAM_BEGIN 100 |
| #define CFG_HOEHENREGELUNG 0x01 |
| #define CFG_HOEHEN_SCHALTER 0x02 |
| #define CFG_HEADING_HOLD 0x04 |
| #define CFG_KOMPASS_AKTIV 0x08 |
| #define CFG_KOMPASS_FIX 0x10 |
| #define CFG_GPS_AKTIV 0x20 |
| #define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
| #define CFG_DREHRATEN_BEGRENZER 0x80 |
| #define CFG_LOOP_OBEN 0x01 |
| #define CFG_LOOP_UNTEN 0x02 |
| #define CFG_LOOP_LINKS 0x04 |
| #define CFG_LOOP_RECHTS 0x08 |
| //#define SYSCLK |
| //extern unsigned long SYSCLK; |
| extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
| extern volatile unsigned char SenderOkay; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
| extern unsigned char GetActiveParamSetNumber(void); |
| extern unsigned char EEPromArray[]; |
| volatile int P_GPS_Verstaerkung; //P-Anteil (80-120) |
| volatile int D_GPS_Verstaerkung; //D-Anteil (90) |
| #include <stdlib.h> |
| #include <string.h> |
| #include <avr/io.h> |
| #include <avr/pgmspace.h> |
| #include <avr/interrupt.h> |
| #include <avr/eeprom.h> |
| #include <avr/boot.h> |
| #include <avr/wdt.h> |
| #include "old_macros.h" |
| #include "_Settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| #include "analog.h" |
| #include "twimaster.h" |
| #include "menu.h" |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "spi.h" |
| #include "mymath.h" |
| #ifdef MM3IS |
| #include "compass.h" |
| #endif |
| #ifndef EEMEM |
| #define EEMEM __attribute__ ((section (".eeprom"))) |
| #endif |
| #define DEBUG_DISPLAY_INTERVALL 123 // in ms |
| #define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
| #endif //_MAIN_H |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/makefile |
|---|
| 0,0 → 1,429 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega644p |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 67 |
| VERSION_INDEX = 6 |
| VERSION_KOMPATIBEL = 7 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| endif |
| ifeq ($(MCU), atmega644p) |
| 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 = MEGA644P |
| endif |
| ifeq ($(F_CPU), 16000000) |
| QUARZ = 16MHZ |
| endif |
| ifeq ($(F_CPU), 20000000) |
| QUARZ = 20MHZ |
| endif |
| # Output format. (can be srec, ihex, binary) |
| FORMAT = ihex |
| # Target file name (without extension). |
| ifeq ($(VERSION_INDEX), 0) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)a |
| endif |
| ifeq ($(VERSION_INDEX), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)b |
| endif |
| ifeq ($(VERSION_INDEX), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)c |
| endif |
| ifeq ($(VERSION_INDEX), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)d |
| endif |
| ifeq ($(VERSION_INDEX), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)e |
| endif |
| ifeq ($(VERSION_INDEX), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)f |
| endif |
| ifeq ($(VERSION_INDEX), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)g |
| endif |
| ifeq ($(VERSION_INDEX), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)h |
| endif |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| #SRC += compass.c |
| SRC += twimaster.c rc.c fc.c GPS.c mymath.c |
| #spi.c |
| ########################################################################################################## |
| # List Assembler source files here. |
| # Make them always end in a capital .S. Files ending in a lowercase .s |
| # will not be considered source files but generated files (assembler |
| # output from the compiler), and will be deleted upon "make clean"! |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = |
| # List any extra directories to look for include files here. |
| # Each directory must be seperated by a space. |
| EXTRAINCDIRS = |
| # Optional compiler flags. |
| # -g: generate debugging information (for GDB, or for COFF conversion) |
| # -O*: optimization level |
| # -f...: tuning, see gcc manual and avr-libc documentation |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) \ |
| -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums \ |
| -Wall -Wstrict-prototypes \ |
| -Wa,-adhlns=$(<:.c=.lst) \ |
| $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| # Set a "language standard" compiler flag. |
| # Unremark just one line below to set the language standard to use. |
| # gnu99 = C99 + GNU extensions. See GCC manual for more information. |
| #CFLAGS += -std=c89 |
| #CFLAGS += -std=gnu89 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) -DVERSION_INDEX=$(VERSION_INDEX) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| # -gstabs: have the assembler create line number information; note that |
| # for use in COFF files, additional information about filenames |
| # and function names needs to be present in the assembler source |
| # files -- see avr-libc docs [FIXME: not yet described there] |
| ASFLAGS = -Wa,-adhlns=$(<:.S=.lst),-gstabs |
| # Optional linker flags. |
| # -Wl,...: tell GCC to pass this to linker. |
| # -Map: create map file |
| # --cref: add cross reference to map file |
| LDFLAGS = -Wl,-Map=$(TARGET).map,--cref |
| # Additional libraries |
| # Minimalistic printf version |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_min |
| # Floating point printf version (requires -lm below) |
| #LDFLAGS += -Wl,-u,vfprintf -lprintf_flt |
| # -lm = math library |
| LDFLAGS += -lm |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| # Programming support using avrdude. Settings and variables. |
| # Programming hardware: alf avr910 avrisp bascom bsd |
| # dt006 pavr picoweb pony-stk200 sp12 stk200 stk500 |
| # |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| #falls Ponyser ausgewählt wird, muss sich unsere avrdude-Configdatei im Bin-Verzeichnis des Compilers befinden |
| #AVRDUDE_PORT = com1 # programmer connected to serial device |
| AVRDUDE_PORT = lpt1 # programmer connected to parallel port |
| #AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex |
| AVRDUDE_WRITE_FLASH = -U flash:w:$(TARGET).hex $(FUSE_SETTINGS) |
| #AVRDUDE_WRITE_EEPROM = -U eeprom:w:$(TARGET).eep |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| # Note that this counter needs to be initialized first using -Yn, |
| # see avrdude manual. |
| #AVRDUDE_ERASE += -y |
| # Uncomment the following if you do /not/ wish a verification to be |
| # performed after programming the device. |
| AVRDUDE_FLAGS += -V |
| # Increase verbosity level. Please use this when submitting bug |
| # reports about avrdude. See <http://savannah.nongnu.org/projects/avrdude> |
| # to submit bug reports. |
| #AVRDUDE_FLAGS += -v -v |
| # --------------------------------------------------------------------------- |
| # Define directories, if needed. |
| DIRAVR = c:/winavr |
| DIRAVRBIN = $(DIRAVR)/bin |
| DIRAVRUTILS = $(DIRAVR)/utils/bin |
| DIRINC = . |
| DIRLIB = $(DIRAVR)/avr/lib |
| # Define programs and commands. |
| SHELL = sh |
| CC = avr-gcc |
| OBJCOPY = avr-objcopy |
| OBJDUMP = avr-objdump |
| SIZE = avr-size |
| # Programming support using avrdude. |
| AVRDUDE = avrdude |
| REMOVE = rm -f |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| MSG_BEGIN = -------- begin -------- |
| MSG_END = -------- end -------- |
| MSG_SIZE_BEFORE = Size before: |
| MSG_SIZE_AFTER = Size after: |
| MSG_COFF = Converting to AVR COFF: |
| MSG_EXTENDED_COFF = Converting to AVR Extended COFF: |
| MSG_FLASH = Creating load file for Flash: |
| MSG_EEPROM = Creating load file for EEPROM: |
| MSG_EXTENDED_LISTING = Creating Extended Listing: |
| MSG_SYMBOL_TABLE = Creating Symbol Table: |
| MSG_LINKING = Linking: |
| MSG_COMPILING = Compiling: |
| MSG_ASSEMBLING = Assembling: |
| MSG_CLEANING = Cleaning project: |
| # Define all object files. |
| OBJ = $(SRC:.c=.o) $(ASRC:.S=.o) |
| # Define all listing files. |
| LST = $(ASRC:.S=.lst) $(SRC:.c=.lst) |
| # Combine all necessary flags and optional flags. |
| # Add target processor to flags. |
| #ALL_CFLAGS = -mmcu=$(MCU) -DF_CPU=$(F_CPU) -I. $(CFLAGS) |
| ALL_CFLAGS = -mmcu=$(MCU) -I. $(CFLAGS) |
| ALL_ASFLAGS = -mmcu=$(MCU) -I. -x assembler-with-cpp $(ASFLAGS) |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| # AVR Studio 3.x does not check make's exit code but relies on |
| # the following magic strings to be generated by the compile job. |
| begin: |
| @echo |
| @echo $(MSG_BEGIN) |
| finished: |
| @echo $(MSG_ERRORS_NONE) |
| end: |
| @echo $(MSG_END) |
| @echo |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| # Convert ELF to COFF for use in debugging / simulating in |
| # AVR Studio or VMLAB. |
| COFFCONVERT=$(OBJCOPY) --debugging \ |
| --change-section-address .data-0x800000 \ |
| --change-section-address .bss-0x800000 \ |
| --change-section-address .noinit-0x800000 \ |
| --change-section-address .eeprom-0x810000 |
| coff: $(TARGET).elf |
| @echo |
| @echo $(MSG_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-avr $< $(TARGET).cof |
| extcoff: $(TARGET).elf |
| @echo |
| @echo $(MSG_EXTENDED_COFF) $(TARGET).cof |
| $(COFFCONVERT) -O coff-ext-avr $< $(TARGET).cof |
| # Program the device. |
| program: $(TARGET).hex $(TARGET).eep |
| $(AVRDUDE) $(AVRDUDE_FLAGS) $(AVRDUDE_WRITE_FLASH) $(AVRDUDE_WRITE_EEPROM) |
| # Create final output files (.hex, .eep) from ELF output file. |
| %.hex: %.elf |
| @echo |
| @echo $(MSG_FLASH) $@ |
| $(OBJCOPY) -O $(FORMAT) -R .eeprom $< $@ |
| %.eep: %.elf |
| @echo |
| @echo $(MSG_EEPROM) $@ |
| -$(OBJCOPY) -j .eeprom --set-section-flags=.eeprom="alloc,load" \ |
| --change-section-lma .eeprom=0 -O $(FORMAT) $< $@ |
| # Create extended listing file from ELF output file. |
| %.lss: %.elf |
| @echo |
| @echo $(MSG_EXTENDED_LISTING) $@ |
| $(OBJDUMP) -h -S $< > $@ |
| # Create a symbol table from ELF output file. |
| %.sym: %.elf |
| @echo |
| @echo $(MSG_SYMBOL_TABLE) $@ |
| avr-nm -n $< > $@ |
| # Link: create ELF output file from object files. |
| .SECONDARY : $(TARGET).elf |
| .PRECIOUS : $(OBJ) |
| %.elf: $(OBJ) |
| @echo |
| @echo $(MSG_LINKING) $@ |
| $(CC) $(ALL_CFLAGS) $(OBJ) --output $@ $(LDFLAGS) |
| # Compile: create object files from C source files. |
| %.o : %.c |
| @echo |
| @echo $(MSG_COMPILING) $< |
| $(CC) -c $(ALL_CFLAGS) $< -o $@ |
| # Compile: create assembler files from C source files. |
| %.s : %.c |
| $(CC) -S $(ALL_CFLAGS) $< -o $@ |
| # Assemble: create object files from assembler source files. |
| %.o : %.S |
| @echo |
| @echo $(MSG_ASSEMBLING) $< |
| $(CC) -c $(ALL_ASFLAGS) $< -o $@ |
| # Target: clean project. |
| clean: begin clean_list finished end |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| # Automatically generate C source code dependencies. |
| # (Code originally taken from the GNU make user manual and modified |
| # (See README.txt Credits).) |
| # |
| # Note that this will work with sh (bash) and sed that is shipped with WinAVR |
| # (see the SHELL variable defined above). |
| # This may not work with other shells or other seds. |
| # |
| %.d: %.c |
| set -e; $(CC) -MM $(ALL_CFLAGS) $< \ |
| | sed 's,\(.*\)\.o[ :]*,\1.o \1.d : ,g' > $@; \ |
| [ -s $@ ] || rm -f $@ |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:.c=.d) |
| # Listing of phony targets. |
| .PHONY : all begin finish end sizebefore sizeafter gccversion coff extcoff \ |
| clean clean_list program |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/menu.c |
|---|
| 0,0 → 1,127 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| unsigned int TestInt = 0; |
| #define ARRAYGROESSE 10 |
| unsigned char Array[ARRAYGROESSE] = {1,2,3,4,5,6,7,8,9,10}; |
| char DisplayBuff[80] = "Hallo Welt"; |
| unsigned char DispPtr = 0; |
| unsigned char RemoteTasten = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| #define KEY4 0x08 |
| #define KEY5 0x10 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu(void) |
| { |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); RemotePollDisplayLine = -1; } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); RemotePollDisplayLine = -1;} |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",PlatinenVersion/10,PlatinenVersion%10,VERSION_HAUPTVERSION, VERSION_NEBENVERSION,VERSION_INDEX+'a'); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| LCD_printfxy(0,0,"Hoehe: %5i",HoehenWert); |
| LCD_printfxy(0,1,"SollHoehe: %5i",SollHoehe); |
| LCD_printfxy(0,2,"Luftdruck: %5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Off : %5i",DruckOffsetSetting); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Keine "); |
| LCD_printfxy(0,2,"Höhenregelung"); |
| } |
| break; |
| case 2: |
| LCD_printfxy(0,0,"akt. Lage"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralRoll/1024); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| LCD_printfxy(0,0,"K1:%4i K2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"K3:%4i K4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"K5:%4i K6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"K7:%4i K8:%4i ",PPM_in[7],PPM_in[8]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]],PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]],PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]); |
| break; |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| if(PlatinenVersion == 10) |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier); |
| } |
| else |
| { |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertNick - AdNeutralNick, AdNeutralNick/2); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertRoll - AdNeutralRoll, AdNeutralRoll/2); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",MesswertGier, AdNeutralGier/2); |
| } |
| break; |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AdWertAccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AdWertAccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Mittelwert_AccHoch/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Kompass "); |
| LCD_printfxy(0,1,"Richtung: %5i",KompassRichtung); |
| LCD_printfxy(0,2,"Messwert: %5i",KompassValue); |
| LCD_printfxy(0,3,"Start: %5i",KompassStartwert); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Po1: %3i Po5: %3i" ,Poti1,Poti5); //PPM24-Erweiterung (121007Kr) |
| LCD_printfxy(0,1,"Po2: %3i Po6: %3i" ,Poti2,Poti6); //PPM24-Erweiterung (121007Kr) |
| LCD_printfxy(0,2,"Po3: %3i Po7: %3i" ,Poti3,Poti7); //PPM24-Erweiterung (121007Kr) |
| LCD_printfxy(0,3,"Po4: %3i Po8: %3i" ,Poti4,Poti8); //PPM24-Erweiterung (121007Kr) |
| break; |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/menu.h |
|---|
| 0,0 → 1,6 |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| extern unsigned char RemoteTasten; |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/mymath.c |
|---|
| 0,0 → 1,126 |
| /* |
| Copyright 2007, Niklas Nold |
| This program (files math.c and math.h) is free software; you can redistribute it and/or modify |
| it under the terms of the GNU Lesser General Public License as published by the Free Software Foundation; |
| either version 3 of the License, or (at your option) any later version. |
| This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; |
| without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU Lesser General Public License for more details. You should have received a copy of the GNU Lesser General Public License |
| along with this program. If not, see <http://www.gnu.org/licenses/>. |
| Please note: All the other files for the project "Mikrokopter" by H. Buss are under the license (license_buss.txt) published by www.mikrokopter.de |
| */ |
| #include "main.h" |
| const uint8_t pgm_atan[270] PROGMEM = {0,1,2,3,5,6,7,8,9,10,11,12,13,15,16,17,18,19,20,21,22,23,24,25,26,27,27,28,29,30,31,32,33,33,34,35,36,37,37,38,39,39,40,41,41,42,43,43,44,44,45,46,46,47,47,48,48,49,49,50,50,51,51,52,52,52,53,53,54,54,54,55,55,56,56,56,57,57,57,58,58,58,59,59,59,60,60,60,60,61,61,61,61,62,62,62,62,63,63,63,63,64,64,64,64,65,65,65,65,65,66,66,66,66,66,67,67,67,67,67,67,68,68,68,68,68,68,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
| //############################################################################ |
| // Arkustangens2 im Gradmaß |
| signed int atan2_i(signed int x, signed int y) |
| //############################################################################ |
| { |
| int i,angle; |
| int8_t m; |
| if (!x && !y) return 0; //atan2 = 0 für x und y = 0 |
| if (y < 0) m=-1; |
| else m=1; |
| if (x==0) return (90*m); // atan2 = 90° für x = 0 |
| i = abs(((long)y*50) / x); // Berechne i für die Lookup table (Schrittweite atan(x) ist 0.02 -> *50) |
| if (i<270) angle = pgm_read_byte(&pgm_atan[i]); // Lookup für 1° bis 79° |
| else if (i>5750) angle = 90; // Grenzwert ist 90° |
| else if (i>=1910) angle = 89; // 89° bis 80° über Wertebereiche |
| else if (i>=1150) angle = 88; |
| else if (i>=820) angle = 87; |
| else if (i>=640) angle = 86; |
| else if (i>=520) angle = 85; |
| else if (i>=440) angle = 84; |
| else if (i>=380) angle = 83; |
| else if (i>=335) angle = 82; |
| else if (i>=299) angle = 81; |
| else angle = 80; // (i>=270) |
| if (x > 0) return (angle*m); // Quadrant I und IV |
| else if ((x < 0) && (m > 0)) return (-angle + 180); // Quadrant II |
| else return (angle - 180); // x < 0 && y < 0 Quadrant III |
| } |
| const float pgm_sinus_f[91] PROGMEM = {0.0,0.0174524,0.0348995,0.0523360,0.0697565,0.0871557,0.1045285,0.1218693,0.1391731,0.1564345,0.1736482,0.1908090,0.2079117,0.2249510,0.2419219,0.2588190,0.2756373,0.2923717,0.3090170,0.3255681,0.3420201,0.3583679,0.3746066,0.3907311,0.4067366,0.4226182,0.4383711,0.4539905,0.4694715,0.4848096,0.5000000,0.5150381,0.5299193,0.5446390,0.5591929,0.5735764,0.5877852,0.6018150,0.6156615,0.6293204,0.6427876,0.6560590,0.6691306,0.6819983,0.6946584,0.7071068,0.7193398,0.7313537,0.7431448,0.7547096,0.7660444,0.7771459,0.7880107,0.7986355,0.8090170,0.8191520,0.8290376,0.8386706,0.8480481,0.8571673,0.8660254,0.8746197,0.8829476,0.8910065,0.8987940,0.9063078,0.9135454,0.9205048,0.9271838,0.9335804,0.9396926,0.9455186,0.9510565,0.9563047,0.9612617,0.9659258,0.9702957,0.9743701,0.9781476,0.9816272,0.9848077,0.9876883,0.9902681,0.9925461,0.9945219,0.9961947,0.9975640,0.9986295,0.9993908,0.9998477,1.0}; |
| inline float pgm_read_float(const float *addr) |
| { |
| union |
| { |
| uint16_t i[2]; // 2 16-bit-Worte |
| float f; |
| } u; |
| u.i[0]=pgm_read_word((PGM_P)addr); |
| u.i[1]=pgm_read_word((PGM_P)addr+2); |
| return u.f; |
| } |
| //############################################################################ |
| // Kosinusfunktion im Gradmaß |
| float cos_f(signed int winkel) |
| //############################################################################ |
| { |
| return (sin_f(90-winkel)); |
| } |
| //############################################################################ |
| // Sinusfunktion im Gradmaß |
| float sin_f(signed int winkel) |
| //############################################################################ |
| { |
| short int m,n; |
| float sinus; |
| //winkel = winkel % 360; |
| if (winkel < 0) |
| { |
| m = -1; |
| winkel = abs(winkel); |
| } |
| else m = +1; |
| // Quadranten auswerten |
| if (winkel <= 90) n=1; |
| else if ((winkel > 90 ) && (winkel <= 180)) {winkel = 180 - winkel; n = 1;} |
| else if ((winkel > 180 ) && (winkel <= 270)) {winkel = winkel - 180; n = -1;} |
| else {winkel = 360 - winkel; n = -1;} //if ((winkel > 270) && (winkel <= 360)) |
| sinus = pgm_read_float(&pgm_sinus_f[winkel]); |
| return (sinus*m*n); |
| } |
| /* |
| const uint8_t pgm_asin[201] PROGMEM = {0,0,1,1,1,1,2,2,2,3,3,3,3,4,4,4,5,5,5,5,6,6,6,7,7,7,7,8,8,8,9,9,9,9,10,10,10,11,11,11,12,12,12,12,13,13,13,14,14,14,14,15,15,15,16,16,16,17,17,17,17,18,18,18,19,19,19,20,20,20,20,21,21,21,22,22,22,23,23,23,24,24,24,25,25,25,25,26,26,26,27,27,27,28,28,28,29,29,29,30,30,30,31,31,31,32,32,32,33,33,33,34,34,34,35,35,35,36,36,37,37,37,38,38,38,39,39,39,40,40,41,41,41,42,42,42,43,43,44,44,44,45,45,46,46,46,47,47,48,48,49,49,49,50,50,51,51,52,52,53,53,54,54,55,55,56,56,57,57,58,58,59,59,60,60,61,62,62,63,64,64,65,66,66,67,68,68,69,70,71,72,73,74,75,76,77,79,80,82,84,90}; |
| //############################################################################ |
| // Akurssinusfunktion im Gradmaß |
| int8_t asin_i(signed int i) |
| //############################################################################ |
| { |
| signed char m; |
| if (i < 0) {m=-1;i=abs(i);} |
| else m=1; |
| i = i % 200; |
| return (pgm_read_byte(&pgm_asin[i]) * m); |
| } |
| */ |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/mymath.h |
|---|
| 0,0 → 1,11 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock |
| // Definitionen fuer Modul math |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| extern signed int atan2_i(signed int x, signed int y); |
| extern float cos_f(signed int winkel); |
| extern float sin_f(signed int winkel); |
| //extern int8_t asin_i(signed int i); |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/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/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/printf_P.c |
|---|
| 0,0 → 1,480 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| This file is part of the GNU IO Library. This library is free |
| software; you can redistribute it and/or modify it under the |
| terms of the GNU General Public License as published by the |
| Free Software Foundation; either version 2, or (at your option) |
| any later version. |
| This library is distributed in the hope that it will be useful, |
| but WITHOUT ANY WARRANTY; without even the implied warranty of |
| MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
| GNU General Public License for more details. |
| You should have received a copy of the GNU General Public License |
| along with this library; see the file COPYING. If not, write to the Free |
| Software Foundation, 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. |
| As a special exception, if you link this library with files |
| compiled with a GNU compiler to produce an executable, this does not cause |
| the resulting executable to be covered by the GNU General Public License. |
| This exception does not however invalidate any other reasons why |
| the executable file might be covered by the GNU General Public License. */ |
| /* |
| * Copyright (c) 1990 Regents of the University of California. |
| * All rights reserved. |
| * |
| * Redistribution and use in source and binary forms, with or without |
| * modification, are permitted provided that the following conditions |
| * are met: |
| * 1. Redistributions of source code must retain the above copyright |
| * notice, this list of conditions and the following disclaimer. |
| * 2. Redistributions in binary form must reproduce the above copyright |
| * notice, this list of conditions and the following disclaimer in the |
| * documentation and/or other materials provided with the distribution. |
| * 3. [rescinded 22 July 1999] |
| * 4. Neither the name of the University nor the names of its contributors |
| * may be used to endorse or promote products derived from this software |
| * without specific prior written permission. |
| * |
| * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND |
| * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| * ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS OR CONTRIBUTORS BE LIABLE |
| * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL |
| * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS |
| * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) |
| * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY |
| * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF |
| * SUCH DAMAGE. |
| */ |
| /****************************************************************************** |
| This file is a patched version of printf called _printf_P |
| It is made to work with avr-gcc for Atmel AVR MCUs. |
| There are some differences from standard printf: |
| 1. There is no floating point support (with fp the code is about 8K!) |
| 2. Return type is void |
| 3. Format string must be in program memory (by using macro printf this is |
| done automaticaly) |
| 4. %n is not implemented (just remove the comment around it if you need it) |
| 5. If LIGHTPRINTF is defined, the code is about 550 bytes smaller and the |
| folowing specifiers are disabled : |
| space # * . - + p s o O |
| 6. A function void uart_sendchar(char c) is used for output. The UART must |
| be initialized before using printf. |
| Alexander Popov |
| sasho@vip.orbitel.bg |
| ******************************************************************************/ |
| /* |
| * Actual printf innards. |
| * |
| * This code is large and complicated... |
| */ |
| #include <string.h> |
| #ifdef __STDC__ |
| #include <stdarg.h> |
| #else |
| #include <varargs.h> |
| #endif |
| #include "main.h" |
| //#define LIGHTPRINTF |
| char PrintZiel; |
| char Putchar(char zeichen) |
| { |
| if(PrintZiel == OUT_LCD) { DisplayBuff[DispPtr++] = zeichen; return(1);} |
| else return(uart_putchar(zeichen)); |
| } |
| void PRINT(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(*ptr++); |
| } |
| void PRINTP(const char * ptr, unsigned int len) |
| { |
| for(;len;len--) Putchar(pgm_read_byte(ptr++)); |
| } |
| void PAD_SP(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar(' '); |
| } |
| void PAD_0(signed char howmany) |
| { |
| for(;howmany>0;howmany--) Putchar('0'); |
| } |
| #define BUF 40 |
| /* |
| * Macros for converting digits to letters and vice versa |
| */ |
| #define to_digit(c) ((c) - '0') |
| #define is_digit(c) ((c)<='9' && (c)>='0') |
| #define to_char(n) ((n) + '0') |
| /* |
| * Flags used during conversion. |
| */ |
| #define LONGINT 0x01 /* long integer */ |
| #define LONGDBL 0x02 /* long double; unimplemented */ |
| #define SHORTINT 0x04 /* short integer */ |
| #define ALT 0x08 /* alternate form */ |
| #define LADJUST 0x10 /* left adjustment */ |
| #define ZEROPAD 0x20 /* zero (as opposed to blank) pad */ |
| #define HEXPREFIX 0x40 /* add 0x or 0X prefix */ |
| void _printf_P (char ziel,char const *fmt0, ...) /* Works with string from FLASH */ |
| { |
| va_list ap; |
| register const char *fmt; /* format string */ |
| register char ch; /* character from fmt */ |
| register int n; /* handy integer (short term usage) */ |
| register char *cp; /* handy char pointer (short term usage) */ |
| const char *fmark; /* for remembering a place in fmt */ |
| register unsigned char flags; /* flags as above */ |
| signed char width; /* width from format (%8d), or 0 */ |
| signed char prec; /* precision from format (%.3d), or -1 */ |
| char sign; /* sign prefix (' ', '+', '-', or \0) */ |
| unsigned long _ulong=0; /* integer arguments %[diouxX] */ |
| #define OCT 8 |
| #define DEC 10 |
| #define HEX 16 |
| unsigned char base; /* base for [diouxX] conversion */ |
| signed char dprec; /* a copy of prec if [diouxX], 0 otherwise */ |
| signed char dpad; /* extra 0 padding needed for integers */ |
| signed char fieldsz; /* field size expanded by sign, dpad etc */ |
| /* The initialization of 'size' is to suppress a warning that |
| 'size' might be used unitialized. It seems gcc can't |
| quite grok this spaghetti code ... */ |
| signed char size = 0; /* size of converted field or string */ |
| char buf[BUF]; /* space for %c, %[diouxX], %[eEfgG] */ |
| char ox[2]; /* space for 0x hex-prefix */ |
| PrintZiel = ziel; // bestimmt, LCD oder UART |
| va_start(ap, fmt0); |
| fmt = fmt0; |
| /* |
| * Scan the format for conversions (`%' character). |
| */ |
| for (;;) { |
| for (fmark = fmt; (ch = pgm_read_byte(fmt)) != '\0' && ch != '%'; fmt++) |
| /* void */; |
| if ((n = fmt - fmark) != 0) { |
| PRINTP(fmark, n); |
| } |
| if (ch == '\0') |
| goto done; |
| fmt++; /* skip over '%' */ |
| flags = 0; |
| dprec = 0; |
| width = 0; |
| prec = -1; |
| sign = '\0'; |
| rflag: ch = PRG_RDB(fmt++); |
| reswitch: |
| #ifdef LIGHTPRINTF |
| if (ch=='o' || ch=='u' || (ch|0x20)=='x') { |
| #else |
| if (ch=='u' || (ch|0x20)=='x') { |
| #endif |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, unsigned long); |
| } else { |
| register unsigned int _d; |
| _d=va_arg(ap, unsigned int); |
| _ulong = flags&SHORTINT ? (unsigned long)(unsigned short)_d : (unsigned long)_d; |
| } |
| } |
| #ifndef LIGHTPRINTF |
| if(ch==' ') { |
| /* |
| * ``If the space and + flags both appear, the space |
| * flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| if (!sign) |
| sign = ' '; |
| goto rflag; |
| } else if (ch=='#') { |
| flags |= ALT; |
| goto rflag; |
| } else if (ch=='*'||ch=='-') { |
| if (ch=='*') { |
| /* |
| * ``A negative field width argument is taken as a |
| * - flag followed by a positive field width.'' |
| * -- ANSI X3J11 |
| * They don't exclude field widths read from args. |
| */ |
| if ((width = va_arg(ap, int)) >= 0) |
| goto rflag; |
| width = -width; |
| } |
| flags |= LADJUST; |
| flags &= ~ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch=='+') { |
| sign = '+'; |
| goto rflag; |
| } else if (ch=='.') { |
| if ((ch = PRG_RDB(fmt++)) == '*') { |
| n = va_arg(ap, int); |
| prec = n < 0 ? -1 : n; |
| goto rflag; |
| } |
| n = 0; |
| while (is_digit(ch)) { |
| n = n*10 + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } |
| prec = n < 0 ? -1 : n; |
| goto reswitch; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if (ch=='0') { |
| /* |
| * ``Note that 0 is taken as a flag, not as the |
| * beginning of a field width.'' |
| * -- ANSI X3J11 |
| */ |
| if (!(flags & LADJUST)) |
| flags |= ZEROPAD; /* '-' disables '0' */ |
| goto rflag; |
| } else if (ch>='1' && ch<='9') { |
| n = 0; |
| do { |
| n = 10 * n + to_digit(ch); |
| ch = PRG_RDB(fmt++); |
| } while (is_digit(ch)); |
| width = n; |
| goto reswitch; |
| } else if (ch=='h') { |
| flags |= SHORTINT; |
| goto rflag; |
| } else if (ch=='l') { |
| flags |= LONGINT; |
| goto rflag; |
| } else if (ch=='c') { |
| *(cp = buf) = va_arg(ap, int); |
| size = 1; |
| sign = '\0'; |
| } else if (ch=='D'||ch=='d'||ch=='i') { |
| if(ch=='D') |
| flags |= LONGINT; |
| if (flags&LONGINT) { |
| _ulong=va_arg(ap, long); |
| } else { |
| register int _d; |
| _d=va_arg(ap, int); |
| _ulong = flags&SHORTINT ? (long)(short)_d : (long)_d; |
| } |
| if ((long)_ulong < 0) { |
| _ulong = -_ulong; |
| sign = '-'; |
| } |
| base = DEC; |
| goto number; |
| } else |
| /* |
| if (ch=='n') { |
| if (flags & LONGINT) |
| *va_arg(ap, long *) = ret; |
| else if (flags & SHORTINT) |
| *va_arg(ap, short *) = ret; |
| else |
| *va_arg(ap, int *) = ret; |
| continue; // no output |
| } else |
| */ |
| #ifndef LIGHTPRINTF |
| if (ch=='O'||ch=='o') { |
| if (ch=='O') |
| flags |= LONGINT; |
| base = OCT; |
| goto nosign; |
| } else if (ch=='p') { |
| /* |
| * ``The argument shall be a pointer to void. The |
| * value of the pointer is converted to a sequence |
| * of printable characters, in an implementation- |
| * defined manner.'' |
| * -- ANSI X3J11 |
| */ |
| /* NOSTRICT */ |
| _ulong = (unsigned int)va_arg(ap, void *); |
| base = HEX; |
| flags |= HEXPREFIX; |
| ch = 'x'; |
| goto nosign; |
| } else if (ch=='s') { // print a string from RAM |
| if ((cp = va_arg(ap, char *)) == NULL) { |
| cp=buf; |
| cp[0] = '('; |
| cp[1] = 'n'; |
| cp[2] = 'u'; |
| cp[4] = cp[3] = 'l'; |
| cp[5] = ')'; |
| cp[6] = '\0'; |
| } |
| if (prec >= 0) { |
| /* |
| * can't use strlen; can only look for the |
| * NUL in the first `prec' characters, and |
| * strlen() will go further. |
| */ |
| char *p = (char*)memchr(cp, 0, prec); |
| if (p != NULL) { |
| size = p - cp; |
| if (size > prec) |
| size = prec; |
| } else |
| size = prec; |
| } else |
| size = strlen(cp); |
| sign = '\0'; |
| } else |
| #endif /* LIGHTPRINTF */ |
| if(ch=='U'||ch=='u') { |
| if (ch=='U') |
| flags |= LONGINT; |
| base = DEC; |
| goto nosign; |
| } else if (ch=='X'||ch=='x') { |
| base = HEX; |
| /* leading 0x/X only if non-zero */ |
| if (flags & ALT && _ulong != 0) |
| flags |= HEXPREFIX; |
| /* unsigned conversions */ |
| nosign: sign = '\0'; |
| /* |
| * ``... diouXx conversions ... if a precision is |
| * specified, the 0 flag will be ignored.'' |
| * -- ANSI X3J11 |
| */ |
| number: if ((dprec = prec) >= 0) |
| flags &= ~ZEROPAD; |
| /* |
| * ``The result of converting a zero value with an |
| * explicit precision of zero is no characters.'' |
| * -- ANSI X3J11 |
| */ |
| cp = buf + BUF; |
| if (_ulong != 0 || prec != 0) { |
| register unsigned char _d,notlastdigit; |
| do { |
| notlastdigit=(_ulong>=base); |
| _d = _ulong % base; |
| if (_d<10) { |
| _d+='0'; |
| } else { |
| _d+='a'-10; |
| if (ch=='X') _d&=~0x20; |
| } |
| *--cp=_d; |
| _ulong /= base; |
| } while (notlastdigit); |
| #ifndef LIGHTPRINTF |
| // handle octal leading 0 |
| if (base==OCT && flags & ALT && *cp != '0') |
| *--cp = '0'; |
| #endif |
| } |
| size = buf + BUF - cp; |
| } else { //default |
| /* "%?" prints ?, unless ? is NUL */ |
| if (ch == '\0') |
| goto done; |
| /* pretend it was %c with argument ch */ |
| cp = buf; |
| *cp = ch; |
| size = 1; |
| sign = '\0'; |
| } |
| /* |
| * All reasonable formats wind up here. At this point, |
| * `cp' points to a string which (if not flags&LADJUST) |
| * should be padded out to `width' places. If |
| * flags&ZEROPAD, it should first be prefixed by any |
| * sign or other prefix; otherwise, it should be blank |
| * padded before the prefix is emitted. After any |
| * left-hand padding and prefixing, emit zeroes |
| * required by a decimal [diouxX] precision, then print |
| * the string proper, then emit zeroes required by any |
| * leftover floating precision; finally, if LADJUST, |
| * pad with blanks. |
| */ |
| /* |
| * compute actual size, so we know how much to pad. |
| */ |
| fieldsz = size; |
| dpad = dprec - size; |
| if (dpad < 0) |
| dpad = 0; |
| if (sign) |
| fieldsz++; |
| else if (flags & HEXPREFIX) |
| fieldsz += 2; |
| fieldsz += dpad; |
| /* right-adjusting blank padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == 0) |
| PAD_SP(width - fieldsz); |
| /* prefix */ |
| if (sign) { |
| PRINT(&sign, 1); |
| } else if (flags & HEXPREFIX) { |
| ox[0] = '0'; |
| ox[1] = ch; |
| PRINT(ox, 2); |
| } |
| /* right-adjusting zero padding */ |
| if ((flags & (LADJUST|ZEROPAD)) == ZEROPAD) |
| PAD_0(width - fieldsz); |
| /* leading zeroes from decimal precision */ |
| PAD_0(dpad); |
| /* the string or number proper */ |
| PRINT(cp, size); |
| /* left-adjusting padding (always blank) */ |
| if (flags & LADJUST) |
| PAD_SP(width - fieldsz); |
| } |
| done: |
| va_end(ap); |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/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/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/rc.c |
|---|
| 0,0 → 1,91 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| volatile int PPM_in[15]; //PPM24-Erweiterung (121007Kr) |
| volatile int PPM_diff[15]; // das diffenzierte Stick-Signal //PPM24-Erweiterung (121007Kr) |
| volatile unsigned char NewPpmData = 1; |
| //############################################################################ |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
| // PWM |
| //TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
| //TCCR1B |= (1 << WGM12); |
| //OCR1B = 55; |
| TIMSK1 |= _BV(ICIE1); |
| AdNeutralGier = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| return; |
| } |
| //############################################################################ |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| // if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| } |
| else |
| { |
| if(index < 14) //PPM24-Erweiterung (121007Kr) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= 466; |
| // Stabiles Signal |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| //############################################################ |
| // Verhindert einen Restwert der RC-Kanäl bei neutralen Knüppelstellungen, führt |
| // unter Umständen jedoch zu +/-1 Sprüngen der einzelnen Kanäle. Siehe auch: |
| // http://forum.mikrokopter.de/topic-2191.html(121107Kr) |
| //if(tmp > signal+1) tmp--; else |
| //if(tmp < signal-1) tmp++; |
| //############################################################ |
| PPM_diff[index] = tmp - PPM_in[index]; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
| if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
| //if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
| } |
| } |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/rc.h |
|---|
| 0,0 → 1,37 |
| /*####################################################################################### |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| //#define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| //#define TIMER_TEILER CK256 // bei 20MHz |
| //#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
| #endif |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[15]; //PPM24-Erweiterung (121007Kr) |
| extern volatile int PPM_diff[15]; // das diffenzierte Stick-Signal //PPM24-Erweiterung (121007Kr) |
| extern volatile unsigned char NewPpmData; |
| #endif //_RC_H |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/spi.c |
|---|
| 0,0 → 1,86 |
| // ######################## SPI - FlightCtrl ################### |
| #include "main.h" |
| struct str_ToNaviCtrl ToNaviCtrl; |
| struct str_FromNaviCtrl FromNaviCtrl; |
| unsigned char SPI_BufferIndex; |
| volatile unsigned char SPI_Buffer[sizeof(FromNaviCtrl)]; |
| unsigned char *Ptr_buffer = (unsigned char *) &ToNaviCtrl; |
| //------------------------------------------------------ |
| 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); |
| } |
| //------------------------------------------------------ |
| void SPI_StartTransmitPacket(void) |
| { |
| if ((SLAVE_SELECT_PORT & (1 << SPI_SLAVE_SELECT)) == 0) return; // transfer of prev. packet not completed |
| SLAVE_SELECT_PORT &= ~(1 << SPI_SLAVE_SELECT); // SelectSlave |
| UpdateSPI_Buffer(); // update buffer |
| SPI_BufferIndex = 1; |
| //DebugOut.Analog[16]++; |
| // -- Debug-Output --- |
| cli(); |
| // DebugOut.Analog[20] = FromNaviCtrl.Comp; |
| //DebugOut.Analog[21] = FromNaviCtrl.GPS_Nick; |
| //DebugOut.Analog[22] = FromNaviCtrl.GPS_Roll; |
| //DebugOut.Analog[23] = FromNaviCtrl.CompassValue; |
| sei(); |
| //---- |
| SPDR = ToNaviCtrl.Comp; // Start transmission |
| } |
| //------------------------------------------------------ |
| //SIGNAL(SIG_SPI) |
| void SPI_TransmitByte(void) |
| { |
| if (!(SPSR & (1 << SPIF))) return; |
| if (SPI_BufferIndex < sizeof(FromNaviCtrl)) |
| { SPI_Buffer[SPI_BufferIndex]= SPDR; // get data |
| //if(SPDR!= 0x00) DebugOut.Analog[19]++; ; |
| } |
| if (SPI_BufferIndex < sizeof(ToNaviCtrl)) |
| { SPDR = Ptr_buffer[SPI_BufferIndex]; |
| } |
| else |
| { |
| unsigned char *ptr = (unsigned char *)&FromNaviCtrl; |
| unsigned char i; |
| SLAVE_SELECT_PORT |= (1 << SPI_SLAVE_SELECT); // DeselectSlave |
| memcpy(ptr, (unsigned char *) SPI_Buffer, sizeof(SPI_Buffer)); |
| } |
| SPI_BufferIndex++; |
| } |
| //------------------------------------------------------ |
| void UpdateSPI_Buffer(void) |
| { |
| cli(); |
| ToNaviCtrl.Comp = SPI_PROTOCOL_COMP; |
| ToNaviCtrl.IntegralNick = (int) (IntegralNick >> 4); |
| ToNaviCtrl.IntegralRoll = (int) (IntegralRoll >> 4); |
| ToNaviCtrl.StickNick = (char) StickNick; |
| ToNaviCtrl.StickRoll = (char) StickRoll; |
| ToNaviCtrl.StickGier = (char) StickGier; |
| sei(); |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/spi.h |
|---|
| 0,0 → 1,46 |
| // ######################## SPI - FlightCtrl ################### |
| #ifndef _SPI_H |
| #define _SPI_H |
| #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 |
| #define SLAVE_SELECT_DDR_PORT DDRC |
| #define SLAVE_SELECT_PORT PORTC |
| #define SPI_SLAVE_SELECT PC5 |
| struct str_ToNaviCtrl |
| { |
| unsigned char Comp; |
| int IntegralNick; |
| int IntegralRoll; |
| char StickNick,StickRoll,StickGier; |
| }; |
| struct str_FromNaviCtrl |
| { |
| unsigned char Comp; |
| int GPS_Nick; |
| int GPS_Roll; |
| int CompassValue; |
| }; |
| 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); |
| #endif |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/timer0.c |
|---|
| 0,0 → 1,175 |
| #include "main.h" |
| volatile unsigned int CountMilliseconds = 0; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| unsigned int BeepMuster = 0xffff; |
| int ServoValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| CK8 = 2, |
| CK64 = 3, |
| CK256 = 4, |
| CK1024 = 5, |
| T0_FALLING_EDGE = 6, |
| T0_RISING_EDGE = 7 |
| }; |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| } |
| if(beeptime > 1) |
| { |
| beeptime--; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| } |
| if(pieper_ein) |
| { |
| if(PlatinenVersion == 10) PORTD |= (1<<2); // Speaker an PORTD.2 |
| else PORTC |= (1<<7); // Speaker an PORTC.7 |
| } |
| else |
| { |
| if(PlatinenVersion == 10) PORTD &= ~(1<<2); |
| else PORTC &= ~(1<<7); |
| } |
| /* MM3 Magentometer 131207WM */ |
| #ifdef MM3IS |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) timer0_MM3(); // Kompass auslesen |
| #endif |
| #ifndef MM3IS |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV || EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) //Abfrage um GPS_AKTIV erweitert, damit auch bei nur eingeschaltetem GPS OHNE Kompass der benötigte Kompassvalue berechnet wird (200907Kr) |
| { |
| if(PINC & 0x10) |
| { |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| cntKompass = 0; |
| } |
| } |
| #endif |
| } |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| OCR0A = 0; |
| OCR0B = 120; |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TCCR2A=(1<<COM2A1)|(1<<COM2A0)|3; |
| TCCR2B=(0<<CS20)|(1<<CS21)|(1<<CS22); |
| // TIMSK2 |= _BV(TOIE2); |
| TIMSK2 |= _BV(OCIE2A); |
| TIMSK0 |= _BV(TOIE0); |
| OCR2A = 10; |
| TCNT2 = 0; |
| } |
| // ----------------------------------------------------------------------- |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| char CheckDelay(unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(((t - CountMilliseconds) & 0x8000) >> 9); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| // ----------------------------------------------------------------------- |
| void Delay_ms(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)); |
| } |
| void Delay_ms_Mess(unsigned int w) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)) ANALOG_ON; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| static unsigned char timer = 10; |
| if(!timer--) |
| { |
| TCCR2A=(1<<COM2A1)|(0<<COM2A0)|3; |
| ServoValue = Parameter_ServoNickControl; |
| if(EE_Parameter.ServoNickCompInvert & 0x01) ServoValue += ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| else ServoValue -= ((long) EE_Parameter.ServoNickComp * (IntegralNick / 128)) / 512; |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/timer0.h |
|---|
| 0,0 → 1,16 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| void Timer_Init(void); |
| void Delay_ms(unsigned int); |
| void Delay_ms_Mess(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| extern unsigned int BeepMuster; |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/twimaster.c |
|---|
| 0,0 → 1,152 |
| /*############################################################################ |
| ############################################################################*/ |
| #include "main.h" |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| void i2c_reset(void) |
| //############################################################################ |
| { |
| i2c_stop(); |
| twi_state = 0; |
| motor = TWDR; |
| motor = 0; |
| TWCR = 0x80; |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| i2c_init(); |
| i2c_start(); |
| i2c_write_byte(0); |
| } |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| switch (twi_state++) |
| { |
| case 0: |
| i2c_write_byte(0x52+(motor*2)); |
| break; |
| case 1: |
| switch(motor++) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 2: |
| i2c_stop(); |
| if (motor<4) twi_state = 0; |
| else motor = 0; |
| i2c_start(); |
| break; |
| //Liest Daten von Motor |
| case 3: |
| i2c_write_byte(0x53+(motorread*2)); |
| break; |
| case 4: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 5: //1 Byte vom Motor lesen |
| motor_rx[motorread] = TWDR; |
| case 6: |
| switch(motorread) |
| { |
| case 0: |
| i2c_write_byte(Motor_Vorne); |
| break; |
| case 1: |
| i2c_write_byte(Motor_Hinten); |
| break; |
| case 2: |
| i2c_write_byte(Motor_Rechts); |
| break; |
| case 3: |
| i2c_write_byte(Motor_Links); |
| break; |
| } |
| break; |
| case 7: //2 Byte vom Motor lesen |
| motor_rx[motorread+4] = TWDR; |
| motorread++; |
| if (motorread>3) motorread=0; |
| i2c_stop(); |
| I2CTimeout = 10; |
| twi_state = 0; |
| } |
| TWCR |= 0x80; |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/twimaster.h |
|---|
| 0,0 → 1,33 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| //############################################################################ |
| // I2C Konstanten |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define I2C_START 0x08 |
| #define I2C_REPEATED_START 0x10 |
| #define I2C_TX_SLA_ACK 0x18 |
| #define I2C_TX_DATA_ACK 0x28 |
| #define I2C_RX_SLA_ACK 0x40 |
| #define I2C_RX_DATA_ACK 0x50 |
| //############################################################################ |
| extern unsigned char twi_state; |
| extern unsigned char motor; |
| extern unsigned char motorread; |
| extern unsigned char motor_rx[8]; |
| void i2c_reset(void); |
| extern void i2c_init (void); // I2C initialisieren |
| extern char i2c_start (void); // Start I2C |
| extern void i2c_stop (void); // Stop I2C |
| extern char i2c_write_byte (char byte); // 1 Byte schreiben |
| extern void i2c_reset(void); |
| #endif |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/uart.c |
|---|
| 0,0 → 1,705 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SioTmp1 = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char RemotePollDisplayLine = 0; |
| unsigned char NurKanalAnforderung = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char DubWiseKeys[3] = {0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| const unsigned char ANALOG_TEXT[32][16] = |
| { |
| //1234567890123456 |
| "IntegralNick ", //0 |
| "IntegralRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "GyroGier ", |
| "HoehenWert ", //5 |
| "AccZ ", |
| "Gas ", |
| "KompassValue ", |
| "Spannung ", |
| "Empfang ", //10 |
| "Analog11 ", |
| "Motor_Vorne ", |
| "Motor_Hinten ", |
| "Motor_Links ", |
| "Motor_Rechts ", //15 |
| "Acc_Z ", |
| "MittelAccNick ", |
| "MittelAccRoll ", |
| "IntegralErrNick ", |
| "IntegralErrRoll ", //20 |
| "MittelIntNick ", |
| "MittelIntRoll ", |
| "NeutralNick ", |
| "RollOffset ", |
| "IntRoll*Faktor ", //25 |
| "Analog26 ", |
| "DirektAusglRoll ", |
| "MesswertRoll ", |
| "AusgleichRoll ", |
| "I-LageRoll ", //30 |
| "StickRoll " |
| }; |
| char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
| static uint8_t gpsState; |
| #define GPS_EMPTY 0 |
| #define GPS_SYNC1 1 |
| #define GPS_SYNC2 2 |
| #define GPS_CLASS 3 |
| #define GPS_LEN1 4 |
| #define GPS_LEN2 5 |
| #define GPS_FILLING 6 |
| #define GPS_CKA 7 |
| #define GPS_CKB 8 |
| gpsInfo_t actualPos; // measured position (last gps record) |
| #define SYNC_CHAR1 0xb5 |
| #define SYNC_CHAR2 0x62 |
| #define CLASS_NAV 0x01 |
| #define MSGID_STATUS 0x03 |
| //#define MSGID_POSLLH 0x02 //(231107Kr) |
| #define MSGID_POSUTM 0x08 |
| #define MSGID_VELNED 0x12 |
| typedef struct { |
| unsigned long ITOW; // time of week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| uint8_t DiffS; // Differential Status |
| uint8_t res; // reserved |
| unsigned long TTFF; // Time to first fix (millisecond time tag) |
| unsigned long MSSS; // Milliseconds since Startup / Reset |
| uint8_t packetStatus; |
| } NAV_STATUS_t; |
| /* |
| typedef struct { //(231107Kr) |
| unsigned long ITOW; // time of week |
| long LON; // longitude in 1e-07 deg |
| long LAT; // lattitude |
| long HEIGHT; // height in mm |
| long HMSL; // height above mean sea level im mm |
| unsigned long Hacc; // horizontal accuracy in mm |
| unsigned long Vacc; // vertical accuracy in mm |
| uint8_t packetStatus; |
| } NAV_POSLLH_t; |
| */ |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long EAST; // cm UTM Easting |
| long NORTH; // cm UTM Nording |
| long ALT; // cm altitude |
| uint8_t ZONE; // UTM zone number |
| uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
| uint8_t packetStatus; |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long VEL_N; // cm/s NED north velocity |
| long VEL_E; // cm/s NED east velocity |
| long VEL_D; // cm/s NED down velocity |
| unsigned long Speed; // cm/s Speed (3-D) |
| unsigned long GSpeed; // cm/s Ground Speed (2-D) |
| long Heading; // deg (1e-05) Heading 2-D |
| unsigned long SAcc; // cm/s Speed Accuracy Estimate |
| unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t packetStatus; |
| } NAV_VELNED_t; |
| NAV_STATUS_t navStatus; |
| //NAV_POSLLH_t navPosLlh; //(231107Kr) |
| NAV_POSUTM_t navPosUtm; |
| NAV_VELNED_t navVelNed; |
| volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
| volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
| volatile unsigned short msgLen; |
| volatile uint8_t msgID; |
| volatile uint8_t ignorePacket; // true when previous packet was not processed |
| #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
| extern volatile uint8_t v24state; |
| char buf[200]; |
| char *bp; |
| char *ep; |
| #endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung an zweiten UART |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_USART1_TRANS) |
| { |
| //zum 2te Uart (GPS) wird im Moment nichts gesendet |
| } |
| void GPSscanData (void) |
| { |
| if (navStatus.packetStatus == 1) // valid packet |
| { |
| actualPos.GPSFix = navStatus.GPSfix; |
| actualPos.newData = navStatus.packetStatus; |
| navStatus.packetStatus = 0; |
| } |
| /* |
| if (navPosLlh.packetStatus == 1) // valid packet |
| { |
| actualPos.longi = navPosLlh.LON; //(231107Kr) |
| actualPos.lati = navPosLlh.LAT; //(231107Kr) |
| actualPos.height = navPosLlh.HEIGHT; //(231107Kr) |
| navPosLlh.packetStatus = 0; |
| } |
| */ |
| if (navPosUtm.packetStatus == 1) // valid packet |
| { |
| actualPos.northing = navPosUtm.NORTH; |
| actualPos.easting = navPosUtm.EAST; |
| actualPos.altitude = navPosUtm.ALT; |
| navPosUtm.packetStatus = 0; |
| newData_navPosUtm = 1; // (211007Kr) |
| ROT_ON; // Rot blinkt in der Frequenz mit der neue UTM-Daten des GPS Empfänger ankommen und brauchbar sind //(211107Kr) |
| } |
| if (navVelNed.packetStatus == 1) // valid packet |
| { |
| actualPos.velNorth = navVelNed.VEL_N; |
| actualPos.velEast = navVelNed.VEL_E; |
| actualPos.velDown = navVelNed.VEL_D; |
| actualPos.GSpeed = navVelNed.GSpeed; //Geschwindigkeit [cm/s] über Grund (151007Kr) |
| navVelNed.packetStatus = 0; |
| } |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung von zweitem UART |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_USART1_RECV) |
| { |
| uint8_t c; |
| uint8_t re; |
| SioTmp1 = UDR1; |
| re = (UCSR1A & (_B1(FE1) | _B1(DOR1))); // any error occured ? |
| c = SioTmp1; |
| #ifdef GPS_DEBUG |
| *bp++ = c; |
| if (bp >= (buf+200)) bp = buf; |
| if (v24state == 0) |
| { |
| v24state = 1; |
| UDR1 = *ep++; |
| if (ep >= buf+200) |
| ep = buf; |
| UCSR1B |= _B1(UDRIE1); //enable further irqs |
| } |
| #endif |
| if (re == 0) |
| { |
| switch (gpsState) |
| { |
| case GPS_EMPTY: |
| if (c == SYNC_CHAR1) |
| gpsState = GPS_SYNC1; |
| break; |
| case GPS_SYNC1: |
| if (c == SYNC_CHAR2) |
| gpsState = GPS_SYNC2; |
| else if (c != SYNC_CHAR1) |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_SYNC2: |
| if (c == CLASS_NAV) |
| gpsState = GPS_CLASS; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CLASS: // msg ID seen: init packed receive |
| msgID = c; |
| CK_A = CLASS_NAV + c; |
| CK_B = CLASS_NAV + CK_A; |
| gpsState = GPS_LEN1; |
| switch (msgID) |
| { |
| case MSGID_STATUS: |
| ubxP = (char*)&navStatus; |
| ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
| ubxSp = (char*)&navStatus.packetStatus; |
| ignorePacket = navStatus.packetStatus; |
| break; |
| /* |
| case MSGID_POSLLH: //(231107Kr) |
| ubxP = (char*)&navPosLlh; |
| ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
| ubxSp = (char*)&navPosLlh.packetStatus; |
| ignorePacket = navPosLlh.packetStatus; |
| break; |
| */ |
| case MSGID_POSUTM: |
| ubxP = (char*)&navPosUtm; |
| ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
| ubxSp = (char*)&navPosUtm.packetStatus; |
| ignorePacket = navPosUtm.packetStatus; |
| break; |
| case MSGID_VELNED: |
| ubxP = (char*)&navVelNed; |
| ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
| ubxSp = (char*)&navVelNed.packetStatus; |
| ignorePacket = navVelNed.packetStatus; |
| break; |
| default: |
| ignorePacket = 1; |
| ubxSp = (char*)0; |
| } |
| break; |
| case GPS_LEN1: // first len byte |
| msgLen = c; |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_LEN2; |
| break; |
| case GPS_LEN2: // second len byte |
| msgLen = msgLen + (c * 256); |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_FILLING; // next data will be stored in packet struct |
| break; |
| case GPS_FILLING: |
| CK_A += c; |
| CK_B += CK_A; |
| if ( !ignorePacket && ubxP < ubxEp) |
| *ubxP++ = c; |
| if (--msgLen == 0) |
| gpsState = GPS_CKA; |
| break; |
| case GPS_CKA: |
| if (c == CK_A) |
| gpsState = GPS_CKB; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CKB: |
| if (c == CK_B && ubxSp) // No error -> packet received successfully |
| *ubxSp = 1; // set packetStatus in struct |
| gpsState = GPS_EMPTY; // ready for next packet |
| break; |
| default: |
| gpsState = GPS_EMPTY; // ready for next packet |
| } |
| } |
| else // discard any data if error occured |
| { |
| gpsState = GPS_EMPTY; |
| } |
| GPSscanData (); |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| // unsigned int tmp_int_arr1[1]; |
| // unsigned int tmp_int_arr2[2]; |
| // unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| // unsigned char tmp_char_arr3[3]; |
| // unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'a':// Texte der Analogwerte |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| DebugTextAnforderung = tmp_char_arr2[0]; |
| break; |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'k':// Keys von DubWise |
| Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //############################################################################ |
| //INstallation der 2ten Seriellen Schnittstelle |
| void UART1_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCSR1B=(1 << TXEN1) | (1 << RXEN1); |
| // UART Double Speed (U2X) |
| UCSR1A |= (1<<U2X1); |
| // RX-Interrupt Freigabe |
| UCSR1B |= (1<<RXCIE1); |
| // TX-Interrupt Freigabe |
| UCSR1B |= (1<<TXCIE1); |
| //Teiler wird gesetzt |
| UBRR1L=(SYSCLK / (BAUD_RATE1 * 8L) - 1); |
| //UBRR1L = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
| DebugTextAnforderung = 255; |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
| { |
| SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| RemotePollDisplayLine = -1; |
| } |
| else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/uart.c.bak.c |
|---|
| 0,0 → 1,712 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // + |
| // + GPS read out: |
| // + modified Version of the Pitschu Brushless Ufo - (c) Peter Schulten, Mülheim, Germany |
| // + only for non-profit use |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "uart.h" |
| unsigned char DebugGetAnforderung = 0,DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0; |
| unsigned volatile char SioTmp = 0; |
| unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NMEABuffer[MAX_EMPFANGS_BUFF]; |
| unsigned volatile char NeuerDatensatzEmpfangen = 0; |
| unsigned volatile char NeueKoordinateEmpfangen = 0; |
| unsigned volatile char UebertragungAbgeschlossen = 1; |
| unsigned volatile char CntCrcError = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned char RemotePollDisplayLine = 0; |
| unsigned char NurKanalAnforderung = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char DubWiseKeys[3] = {0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| int Debug_Timer; |
| const unsigned char ANALOG_TEXT[32][16] = |
| { |
| //1234567890123456 |
| "IntegralNick____", //00 |
| "IntegralRoll____", //01 |
| "AccNick_________", //02 |
| "AccRoll_________", //03 |
| "P_GPS_Faktor____", //04 |
| "D_GPS_Faktor____", //05 |
| "Soll_Pos_North__", //06 |
| "Soll_Pos_East___", //07 |
| "KompassValue____", //08 |
| "UBat____________", //09 |
| "SenderOkay______", //10 |
| "GPSFix__________", //11 |
| "Gesamtstrom_____", //12 |
| "Geschwindigkeit_", //13 |
| "Pos.north_______", //14 |
| "Pos.east________", //15 |
| "Poti3___________", //16 |
| "Höhe_GPS________", //17 |
| "Home_North______", //18 |
| "Home_East_______", //19 |
| "Posabw_North____", //20 |
| "Posabw_East_____", //21 |
| "P_Einfluss_North", //22 |
| "P_Einfluss_East_", //23 |
| "D_Einfluss_North", //24 |
| "D_Einfluss_East_", //25 |
| "NORTH_MITTEL____", //26 |
| "EAST_MITTEL_____", //27 |
| "GPS_Nick________", //28 |
| "GPS_Roll________", //29 |
| "StickNick_______", //30 |
| "StickRoll_______" //31 |
| }; |
| char newData_navPosUtm = 0; // Flag, wenn neue PosUtm-Daten vorliegen (211007Kr) |
| static uint8_t gpsState; |
| #define GPS_EMPTY 0 |
| #define GPS_SYNC1 1 |
| #define GPS_SYNC2 2 |
| #define GPS_CLASS 3 |
| #define GPS_LEN1 4 |
| #define GPS_LEN2 5 |
| #define GPS_FILLING 6 |
| #define GPS_CKA 7 |
| #define GPS_CKB 8 |
| gpsInfo_t actualPos; // measured position (last gps record) |
| #define SYNC_CHAR1 0xb5 |
| #define SYNC_CHAR2 0x62 |
| #define CLASS_NAV 0x01 |
| #define MSGID_STATUS 0x03 |
| //#define MSGID_POSLLH 0x02 //(231107Kr) |
| #define MSGID_POSUTM 0x08 |
| #define MSGID_VELNED 0x12 |
| typedef struct { |
| unsigned long ITOW; // time of week |
| uint8_t GPSfix; // GPSfix Type, range 0..6 |
| uint8_t Flags; // Navigation Status Flags |
| uint8_t DiffS; // Differential Status |
| uint8_t res; // reserved |
| unsigned long TTFF; // Time to first fix (millisecond time tag) |
| unsigned long MSSS; // Milliseconds since Startup / Reset |
| uint8_t packetStatus; |
| } NAV_STATUS_t; |
| /* |
| typedef struct { //(231107Kr) |
| unsigned long ITOW; // time of week |
| long LON; // longitude in 1e-07 deg |
| long LAT; // lattitude |
| long HEIGHT; // height in mm |
| long HMSL; // height above mean sea level im mm |
| unsigned long Hacc; // horizontal accuracy in mm |
| unsigned long Vacc; // vertical accuracy in mm |
| uint8_t packetStatus; |
| } NAV_POSLLH_t; |
| */ |
| typedef struct { |
| unsigned long ITOW; // time of week |
| long EAST; // cm UTM Easting |
| long NORTH; // cm UTM Nording |
| long ALT; // cm altitude |
| uint8_t ZONE; // UTM zone number |
| uint8_t HEM; // Hemisphere Indicator (0=North, 1=South) |
| uint8_t packetStatus; |
| } NAV_POSUTM_t; |
| typedef struct { |
| unsigned long ITOW; // ms GPS Millisecond Time of Week |
| long VEL_N; // cm/s NED north velocity |
| long VEL_E; // cm/s NED east velocity |
| long VEL_D; // cm/s NED down velocity |
| unsigned long Speed; // cm/s Speed (3-D) |
| unsigned long GSpeed; // cm/s Ground Speed (2-D) |
| long Heading; // deg (1e-05) Heading 2-D |
| unsigned long SAcc; // cm/s Speed Accuracy Estimate |
| unsigned long CAcc; // deg Course / Heading Accuracy Estimate |
| uint8_t packetStatus; |
| } NAV_VELNED_t; |
| NAV_STATUS_t navStatus; |
| //NAV_POSLLH_t navPosLlh; //(231107Kr) |
| NAV_POSUTM_t navPosUtm; |
| NAV_VELNED_t navVelNed; |
| volatile char *ubxP, *ubxEp, *ubxSp; // pointers to packet currently transfered |
| volatile uint8_t CK_A, CK_B; // UBX checksum bytes |
| volatile unsigned short msgLen; |
| volatile uint8_t msgID; |
| volatile uint8_t ignorePacket; // true when previous packet was not processed |
| #ifdef GPS_DEBUG // if set then the GPS data is transfered to display |
| extern volatile uint8_t v24state; |
| char buf[200]; |
| char *bp; |
| char *ep; |
| #endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung an zweiten UART |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_USART1_TRANS) |
| { |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung von zweitem UART |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_USART1_RECV) |
| { |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| void GPSscanData (void) |
| { |
| if (navStatus.packetStatus == 1) // valid packet |
| { |
| actualPos.GPSFix = navStatus.GPSfix; |
| actualPos.newData = navStatus.packetStatus; |
| navStatus.packetStatus = 0; |
| } |
| /* |
| if (navPosLlh.packetStatus == 1) // valid packet |
| { |
| actualPos.longi = navPosLlh.LON; //(231107Kr) |
| actualPos.lati = navPosLlh.LAT; //(231107Kr) |
| actualPos.height = navPosLlh.HEIGHT; //(231107Kr) |
| navPosLlh.packetStatus = 0; |
| } |
| */ |
| if (navPosUtm.packetStatus == 1) // valid packet |
| { |
| actualPos.northing = navPosUtm.NORTH; |
| actualPos.easting = navPosUtm.EAST; |
| actualPos.altitude = navPosUtm.ALT; |
| navPosUtm.packetStatus = 0; |
| newData_navPosUtm = 1; // (211007Kr) |
| ROT_ON; // Rot blinkt in der Frequenz mit der neue UTM-Daten des GPS Empfänger ankommen und brauchbar sind //(211107Kr) |
| } |
| if (navVelNed.packetStatus == 1) // valid packet |
| { |
| actualPos.velNorth = navVelNed.VEL_N; |
| actualPos.velEast = navVelNed.VEL_E; |
| actualPos.velDown = navVelNed.VEL_D; |
| actualPos.GSpeed = navVelNed.GSpeed; //Geschwindigkeit [cm/s] über Grund (151007Kr) |
| navVelNed.packetStatus = 0; |
| } |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| SioTmp = UDR; |
| uint8_t c; |
| uint8_t re; |
| re = (UCSR0A & (_B1(FE0) | _B1(DOR0))); // any error occured ? |
| c = SioTmp; |
| #ifdef GPS_DEBUG |
| *bp++ = c; |
| if (bp >= (buf+200)) bp = buf; |
| if (v24state == 0) |
| { |
| v24state = 1; |
| UDR0 = *ep++; |
| if (ep >= buf+200) |
| ep = buf; |
| UCSR0B |= _B1(UDRIE0); //enable further irqs |
| } |
| #endif |
| if (re == 0) |
| { |
| switch (gpsState) |
| { |
| case GPS_EMPTY: |
| if (c == SYNC_CHAR1) |
| gpsState = GPS_SYNC1; |
| break; |
| case GPS_SYNC1: |
| if (c == SYNC_CHAR2) |
| gpsState = GPS_SYNC2; |
| else if (c != SYNC_CHAR1) |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_SYNC2: |
| if (c == CLASS_NAV) |
| gpsState = GPS_CLASS; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CLASS: // msg ID seen: init packed receive |
| msgID = c; |
| CK_A = CLASS_NAV + c; |
| CK_B = CLASS_NAV + CK_A; |
| gpsState = GPS_LEN1; |
| switch (msgID) |
| { |
| case MSGID_STATUS: |
| ubxP = (char*)&navStatus; |
| ubxEp = (char*)(&navStatus + sizeof(NAV_STATUS_t)); |
| ubxSp = (char*)&navStatus.packetStatus; |
| ignorePacket = navStatus.packetStatus; |
| break; |
| /* |
| case MSGID_POSLLH: //(231107Kr) |
| ubxP = (char*)&navPosLlh; |
| ubxEp = (char*)(&navPosLlh + sizeof(NAV_POSLLH_t)); |
| ubxSp = (char*)&navPosLlh.packetStatus; |
| ignorePacket = navPosLlh.packetStatus; |
| break; |
| */ |
| case MSGID_POSUTM: |
| ubxP = (char*)&navPosUtm; |
| ubxEp = (char*)(&navPosUtm + sizeof(NAV_POSUTM_t)); |
| ubxSp = (char*)&navPosUtm.packetStatus; |
| ignorePacket = navPosUtm.packetStatus; |
| break; |
| case MSGID_VELNED: |
| ubxP = (char*)&navVelNed; |
| ubxEp = (char*)(&navVelNed + sizeof(NAV_VELNED_t)); |
| ubxSp = (char*)&navVelNed.packetStatus; |
| ignorePacket = navVelNed.packetStatus; |
| break; |
| default: |
| ignorePacket = 1; |
| ubxSp = (char*)0; |
| } |
| break; |
| case GPS_LEN1: // first len byte |
| msgLen = c; |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_LEN2; |
| break; |
| case GPS_LEN2: // second len byte |
| msgLen = msgLen + (c * 256); |
| CK_A += c; |
| CK_B += CK_A; |
| gpsState = GPS_FILLING; // next data will be stored in packet struct |
| break; |
| case GPS_FILLING: |
| CK_A += c; |
| CK_B += CK_A; |
| if ( !ignorePacket && ubxP < ubxEp) |
| *ubxP++ = c; |
| if (--msgLen == 0) |
| gpsState = GPS_CKA; |
| break; |
| case GPS_CKA: |
| if (c == CK_A) |
| gpsState = GPS_CKB; |
| else |
| gpsState = GPS_EMPTY; |
| break; |
| case GPS_CKB: |
| if (c == CK_B && ubxSp) // No error -> packet received successfully |
| *ubxSp = 1; // set packetStatus in struct |
| gpsState = GPS_EMPTY; // ready for next packet |
| break; |
| default: |
| gpsState = GPS_EMPTY; // ready for next packet |
| } |
| } |
| else // discard any data if error occured |
| { |
| gpsState = GPS_EMPTY; |
| } |
| GPSscanData (); |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| crc %= 4096; |
| crc1 = '=' + crc / 64; |
| crc2 = '=' + crc % 64; |
| CrcOkay = 0; |
| if((crc1 == RxdBuffer[buf_ptr-2]) && (crc2 == RxdBuffer[buf_ptr-1])) CrcOkay = 1; else { CrcOkay = 0; CntCrcError++;}; |
| if(!NeuerDatensatzEmpfangen && CrcOkay) // Datensatz schon verarbeitet |
| { |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R') wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| { |
| case 0: |
| if(SioTmp == '#' && !NeuerDatensatzEmpfangen) UartState = 1; // Startzeichen und Daten schon verarbeitet |
| buf_ptr = 0; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc = SioTmp; |
| break; |
| case 1: // Adresse auswerten |
| UartState++; |
| RxdBuffer[buf_ptr++] = SioTmp; |
| crc += SioTmp; |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += SendeBuffer[i]; |
| } |
| tmpCRC %= 4096; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| while(len) |
| { |
| if(len) { a = snd[ptr++]; len--;} else a = 0; |
| if(len) { b = snd[ptr++]; len--;} else b = 0; |
| if(len) { c = snd[ptr++]; len--;} else c = 0; |
| SendeBuffer[pt++] = '=' + (a >> 2); |
| SendeBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| SendeBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| SendeBuffer[pt++] = '=' + ( c & 0x3f); |
| } |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(unsigned char *ptrOut, unsigned char len, unsigned char ptrIn,unsigned char max) // Wohin mit den Daten; Wie lang; Wo im RxdBuffer |
| { |
| unsigned char a,b,c,d; |
| unsigned char ptr = 0; |
| unsigned char x,y,z; |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| b = RxdBuffer[ptrIn++] - '='; |
| c = RxdBuffer[ptrIn++] - '='; |
| d = RxdBuffer[ptrIn++] - '='; |
| if(ptrIn > max - 2) break; // nicht mehr Daten verarbeiten, als empfangen wurden |
| x = (a << 2) | (b >> 4); |
| y = ((b & 0x0f) << 4) | (c >> 2); |
| z = ((c & 0x03) << 6) | d; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| } |
| // -------------------------------------------------------------------------- |
| void BearbeiteRxDaten(void) |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| // unsigned int tmp_int_arr1[1]; |
| // unsigned int tmp_int_arr2[2]; |
| // unsigned int tmp_int_arr3[3]; |
| unsigned char tmp_char_arr2[2]; |
| // unsigned char tmp_char_arr3[3]; |
| // unsigned char tmp_char_arr4[4]; |
| //if(!MotorenEin) |
| PcZugriff = 255; |
| switch(RxdBuffer[2]) |
| { |
| case 'a':// Texte der Analogwerte |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| DebugTextAnforderung = tmp_char_arr2[0]; |
| break; |
| case 'c':// Debugdaten incl. Externe IOs usw |
| Decode64((unsigned char *) &DebugIn,sizeof(DebugIn),3,AnzahlEmpfangsBytes); |
| /* for(unsigned char i=0; i<4;i++) |
| { |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2], DebugIn.Analog[i]); |
| EE_CheckAndWrite(&EE_Buffer[EE_DEBUGWERTE + i*2 + 1], DebugIn.Analog[i] >> 8); |
| }*/ |
| RemoteTasten |= DebugIn.RemoteTasten; |
| DebugDataAnforderung = 1; |
| break; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| if(tmp_char_arr2[1] == 255) NurKanalAnforderung = 1; else NurKanalAnforderung = 0; // keine Displaydaten |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),3,AnzahlEmpfangsBytes); |
| break; |
| case 'k':// Keys von DubWise |
| Decode64((unsigned char *) &DubWiseKeys[0],sizeof(DubWiseKeys),3,AnzahlEmpfangsBytes); |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// "Get"-Anforderung für Debug-Daten |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| DebugGetAnforderung = 1; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| if(tmp_char_arr2[0] != 0xff) |
| { |
| if(tmp_char_arr2[0] > 5) tmp_char_arr2[0] = 5; |
| ReadParameterSet(tmp_char_arr2[0], (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| SendOutData('L' + tmp_char_arr2[0] -1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| } |
| else |
| SendOutData('L' + GetActiveParamSetNumber()-1,MeineSlaveAdresse,(unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE); |
| break; |
| case 'l': |
| case 'm': |
| case 'n': |
| case 'o': |
| case 'p': // Parametersatz speichern |
| Decode64((unsigned char *) &EE_Parameter.Kanalbelegung[0],STRUCT_PARAM_LAENGE,3,AnzahlEmpfangsBytes); |
| WriteParameterSet(RxdBuffer[2] - 'l' + 1, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], RxdBuffer[2] - 'l' + 1); // aktiven Datensatz merken |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR = c; |
| return (0); |
| } |
| // -------------------------------------------------------------------------- |
| void WriteProgramData(unsigned int pos, unsigned char wert) |
| { |
| //if (ProgramLocation == IN_RAM) Buffer[pos] = wert; |
| // else eeprom_write_byte(&EE_Buffer[pos], wert); |
| // Buffer[pos] = wert; |
| } |
| //############################################################################ |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSRB |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR=(SYSCLK / (BAUD_RATE * 8L) - 1); |
| //UBRR = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| gpsState = GPS_EMPTY; |
| } |
| //############################################################################ |
| //INstallation der 2ten Seriellen Schnittstelle |
| void UART1_Init (void) |
| //############################################################################ |
| { |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCSR1B=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| UCSR1A |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSR1B |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSR1B |= (1<<TXCIE); |
| //Teiler wird gesetzt |
| UBRR1L=(SYSCLK / (BAUD_RATE1 * 8L) - 1); |
| //UBRR1L = 33; |
| //öffnet einen Kanal für printf (STDOUT) |
| //fdevopen (uart_putchar, 0); |
| //sbi(PORTD,4); |
| Debug_Timer = SetDelay(200); |
| } |
| //--------------------------------------------------------------------------------------------- |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
| DebugGetAnforderung = 0; |
| } |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| SendOutData('A',DebugTextAnforderung + '0',(unsigned char *) ANALOG_TEXT[DebugTextAnforderung],16); |
| DebugTextAnforderung = 255; |
| } |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++RemotePollDisplayLine == 4 || NurKanalAnforderung) |
| { |
| SendOutData('4',0,(unsigned char *)&PPM_in,sizeof(PPM_in)); // DisplayZeile übertragen |
| RemotePollDisplayLine = -1; |
| } |
| else SendOutData('0' + RemotePollDisplayLine,0,(unsigned char *)&DisplayBuff[20 * RemotePollDisplayLine],20); // DisplayZeile übertragen |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| } |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/uart.h |
|---|
| 0,0 → 1,146 |
| #ifndef _UART_H |
| #define _UART_H |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| #define DUB_KEY_UP 4 |
| #define DUB_KEY_DOWN 8 |
| #define DUB_KEY_RIGHT 32 |
| #define DUB_KEY_LEFT 16 |
| #define DUB_KEY_FIRE 64 |
| extern char newData_navPosUtm; // (211007Kr) |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
| extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| extern unsigned volatile char UebertragungAbgeschlossen; |
| extern unsigned volatile char PC_DebugTimeout; |
| extern unsigned volatile char NeueKoordinateEmpfangen; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern unsigned char RemotePollDisplayLine; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern void UART1_Init (void); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void DecodeNMEA(void); |
| extern void BearbeiteRxDaten(void); |
| extern unsigned char MotorTest[4]; |
| extern unsigned char DubWiseKeys[3]; |
| struct str_DebugOut |
| { |
| unsigned char Digital[2]; |
| unsigned int Analog[32]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| #define _B1(bit) (1 << (bit)) |
| #define _B0(bit) (0 << (bit)) |
| typedef struct |
| { |
| long northing; // in cm (+ = north) |
| long easting; // in cm (+ = east) |
| long altitude; // in cm |
| long velNorth; |
| long velEast; |
| long velDown; |
| long GSpeed; //(151007Kr) |
| uint8_t newData; // status of data: 0 = invlid; 1 = valid |
| uint8_t GPSFix; |
| uint8_t noSV; // number of sats |
| } gpsInfo_t; |
| extern gpsInfo_t lockedPos; // stored position to fly to |
| extern gpsInfo_t actualPos; // measured position (last gps record) |
| extern void GPSscanData (void); |
| struct str_Debug |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| struct str_VersionInfo |
| { |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| //Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
| //#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
| //#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
| #define BAUD_RATE1 57600 //Baud Rate für UART2 (nur auf 644P) |
| //Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
| #if defined (__AVR_ATmega128__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICRB |
| #endif |
| #if defined (__AVR_ATmega32__) |
| # define USR UCSRA |
| # define UCR UCSRB |
| # define UBRR UBRRL |
| # define EICR EICRB |
| # define INT_VEC_RX SIG_UART_RECV |
| # define INT_VEC_TX SIG_UART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| # define USR UCSR0A |
| # define UCR UCSR0B |
| # define UDR UDR0 |
| # define UBRR UBRR0L |
| # define EICR EICR0B |
| # define TXEN TXEN0 |
| # define RXEN RXEN0 |
| # define RXCIE RXCIE0 |
| # define TXCIE TXCIE0 |
| # define U2X U2X0 |
| # define UCSRB UCSR0B |
| # define UDRE UDRE0 |
| # define INT_VEC_RX SIG_USART_RECV |
| # define INT_VEC_TX SIG_USART_TRANS |
| #endif |
| #endif //_UART_H |
| /branches/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART/Flight-Ctrl_V0_67g_3_GPS_work_Jochen_2UART_MM3_Nick666/version.txt |
|---|
| 0,0 → 1,127 |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| V0.53b 29.04.2007 H.Buss |
| - der FAKTOR_I war versehentlich auf Null, dann liegt der MikroKopter nicht so hart in der Luft |
| V0.53c 29.04.2007 H.Buss |
| - es gib ein Menü, in dem die Werte der Kanäle nach Nick, Roll, Gas,... sortiert sind. |
| Die angezeigten Werte waren nicht die Werte der Funke |
| V0.54 01.05.2007 H.Buss |
| - die Paramtersätze können jetzt vor dem Start ausgewählt werden |
| Dazu wird beim Kalibrieren der Messwerte (Gashebel oben links) der Nick-Rollhebel abgefragt: |
| 2 3 4 |
| 1 x 5 |
| - - - |
| Bedeutet: Nick-Rollhebel Links Mitte = Setting:1 Links Oben = Setting:2 usw. |
| - der Faktor_I für den Hauptregler ist hinzugekommen. Im Heading-Hold-Modus sollte er vergössert werden, was Stabilität bringt |
| V0.55 14.05.2007 H.Buss |
| - es können nun Servos an J3,J4,J5 mit den Kanälen 5-7 gesteuert werden |
| V0.56 14.05.2007 H.Buss |
| - es gab Probleme mit Funken, die mehr als 8 Kanäle haben, wenn mehrere Kanäle dann auf Null waren |
| - Funken, die nicht bis +-120 aussteuern können, sollten jetzt auch gehen |
| V0.57 24.05.2007 H.Buss |
| - Der Höhenregler kann nun auch mittels Schalter bedient werden |
| - Bug im Gier-Algorithmus behoben; Schnelles Gieren fürhrte dazu, dass der MK zu weit gedreht hat |
| - Kompass-Einfluss dämpfen bei Neigung |
| - Man kann zwischen Kompass FIX (Richtung beim Kalibrieren) und Variabel (einstellbar per Gier) wählen |
| - Der Motortest vom Kopter-Tool geht jetzt |
| - Man kann den Parametersätzen einen Namen geben |
| - Das Kamerasetting ist unter Setting 2 defaultmässig integriert |
| V0.58 30.05.2007 H.Buss |
| - Der Höhenregler-Algorithmus wird nun umgangen, wenn der Höhenreglerschalter aus ist |
| V0.60 17.08.2007 H.Buss |
| - "Schwindel-Bug" behoben |
| - Die Poti-Werte werden jetzt auf Unterlauf (<0) überprüft |
| - Poti4 zugefügt |
| - Es werden jetzt 8 Kanäle ausgewertet |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| V0.61 - V0.63 H.Buss 27.09.2007 |
| - Poti 4 und Kanal 8 werden im Menü angezeigt |
| - ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
| - Analog.c: Aktuell_ax korrigiert |
| - auf 32 Debug-Kanäle erweitert |
| - Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar |
| - leichte Anpassungen im Gier - Geschwindigkeit und Drift |
| - die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein |
| - die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird |
| - die PPM-Ausgänge liegen wieder an den Pins an |
| - Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders |
| - der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen |
| - I2C-Bus läuft jetzt sicher nach einer Störung wieder an |
| - Sticksignale werden präziser ausgewertet |
| - Stick-Kanäle werden ans Kopter-Tool übertragen |
| - Es muss die Version V1.47 des Kopter-Tool verwendet werden |
| - Die Settings werden auf Default zurückgesetzt |
| - am Piepen kann man die Fehlerart unterscheiden |
| 1. einzelnes Piepen beim Einschalten und Kalibrieren |
| 2. langsames Intervall mindestens 1 Sek -> Empfangsausfall |
| 3. schnelleres Intervall mindestens 1 Sek -> Akku |
| 4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört |
| V0.64 H.Buss 30.09.2007 |
| - beim Gieren wurden die Achsen nicht hart genug geregelt |
| V0.65a H.Buss 15.10.2007 |
| - Integral im Mischer wieder integriert |
| - Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
| - ACC/Gyro Abgleich auch bei HH |
| V0.66a H.Buss 3.11.2007 |
| - Messwertverarbeitung aus dem Analog-Interrupt entfernt |
| - Analogmessung hängt jetzt am FC-Timing |
| - Looping-Stick-Hysterese eingebaut |
| - Looping-180°-Umschlag einstellbar |
| - Achsenkopplung: Gierbewegung verkoppelt Nick und Roll |
| - Lageregelung nach ACC-Sensor verbessert |
| - zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage |
| - Gyrodriftkompensation überarbeitet |
| - Bug in der Gier-Stick-Berechnung behoben |
| - Gyro-Messung auf 1kHz beschleunigt |
| V0.67a H.Buss 16.11.2007 |
| - der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode) |
| - Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus |
| - Feinabstimmung |
| - Beim HH-Modus gab es noch Bugs |
| V0.67e H.Buss 29.11.2007 |
| - Parameter: Dynamic Stability und Driftfaktor eingeführt |
| - Die Namen der Analogwerte werden jetzt zum Koptertool übertragen |
| - Kompatibilität zum Koptertool erhöht |
| V0.67f H.Buss 04.12.2007 |
| - Giersteuerwert im Mischer auf Gas/2 begrenzt |
| - Die Analogwerte des ACC-Sensors können dauerhaft im EEPROM gespeichert werden |
| - Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional |
| MODDS: |
| - LED1 und LED2 Ansteuerung, blinkende LED_1 für Positionsleuchten (einstellbar über Userparam 7 und 8) |
| - GPS wird deaktiviert und Summer eingeschaltet, wenn kein 3D-Fix (mehr) vorhanden |
| - GPS-Statusanzeige auf eine LED reduziert (aus, blinkend, an) |
| - Homing-Fkt. eingebaut |
| - Diverse Absicherungen gegen Fehlbedienungen (z.B. nicht gelernte Home-Position, ...) |
| - Rotationsmatrix mit Kompass, damit die GPS-Fkt. nicht nur nach Norden ausgerichtet funktioniert |
| - dyn. Position Hold -> normaler Rundflug möglich |
| - Limit_D_Anteil um im Homingmodus die Sollposition gleichmäßiger anzufliegen (->> Radius 500cm) |
| - Die Berechnung von Kompassvalue wird jetzt auch über den GPS Haken im Koptertool aktiviert |
| - 12 Kanal Erweiterung (rc.c; rc.h; fc.c; fc.h; menu.c) |
| - Beeinflussung der Stickwerte um ungewollte Überschläge zu verhindern auch bei aktiviertem GPS ausgeschaltet. |
| - Die Begrenzung der Messwerte ist wieder aktiv, wird jedoch im Falle von Loopings nicht durchlaufen |
| - die Geschwindigkeit über Grund vom GPS liegt nun auf den Debug.Analog Werten |
| - mögliche Fehlbedienung durch Trennen des GPS Empfängers unterdrückt |