/branches/salvo_gps/Basis_v0067g/tags/v0007/Flight-Ctrl_MEGA644_V0_07a.hex |
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0,0 → 1,2422 |
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/branches/salvo_gps/Basis_v0067g/tags/v0007/FlightCtrl.aps |
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0,0 → 1,0 |
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/branches/salvo_gps/Basis_v0067g/tags/v0007/GPS.c |
---|
0,0 → 1,668 |
/* |
This program (files gps.c and gps.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 General Public License and GNU Lesser General Public License for more details. |
You should have received a copy of GNU General Public License (License_GPL.txt) and |
GNU Lesser General Public License (License_LGPL.txt) 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 |
*/ |
/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
von Peter Muehlenbrock alias Salvo |
Auswertung der Daten vom GPS im ublox Format |
Hold Modus mit PID Regler |
Rückstuerz zur Basis Funktion |
Stand 20.1.2008 |
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
*/ |
#include "main.h" |
#include "math.h" |
//#include "gps.h" |
// Defines fuer ublox Messageformat um Auswertung zu steuern |
#define UBLOX_IDLE 0 |
#define UBLOX_SYNC1 1 |
#define UBLOX_SYNC2 2 |
#define UBLOX_CLASS 3 |
#define UBLOX_ID 4 |
#define UBLOX_LEN1 5 |
#define UBLOX_LEN2 6 |
#define UBLOX_CKA 7 |
#define UBLOX_CKB 8 |
#define UBLOX_PAYLOAD 9 |
// ublox Protokoll Identifier |
#define UBLOX_NAV_POSUTM 0x08 |
#define UBLOX_NAV_STATUS 0x03 |
#define UBLOX_NAV_VELED 0x12 |
#define UBLOX_NAV_CLASS 0x01 |
#define UBLOX_SYNCH1_CHAR 0xB5 |
#define UBLOX_SYNCH2_CHAR 0x62 |
signed int GPS_Nick = 0; |
signed int GPS_Roll = 0; |
short int ublox_msg_state = UBLOX_IDLE; |
static uint8_t chk_a =0; //Checksum |
static uint8_t chk_b =0; |
short int gps_state,gps_sub_state; //Zustaende der Statemachine |
short int gps_updte_flag; |
static long signed gps_reg_x,gps_reg_y; |
static unsigned int rx_len; |
static unsigned int ptr_payload_data_end; |
unsigned int gps_alive_cnt; // Wird bei jedem gueltigen GPS Telegramm hochgezaehlt |
static signed int hdng_2home,dist_2home; //Richtung und Entfernung zur home Position |
static signed gps_tick; //wird bei jedem Update durch das GPS Modul hochgezaehlt |
static short int hold_fast,hold_reset_int; //Flags fuer Hold Regler |
static uint8_t *ptr_payload_data; |
static uint8_t *ptr_pac_status; |
static int dist_flown; |
static unsigned int int_ovfl_cnt; // Zaehler fuer Overflows des Integrators |
static int gps_quiet_cnt; // zaheler fuer GPS Off Time beim Kameraausloesen |
short int Get_GPS_data(void); |
NAV_POSUTM_t actual_pos; // Aktuelle Nav Daten werden hier im ublox Format abgelegt |
NAV_STATUS_t actual_status; // Aktueller Nav Status |
NAV_VELNED_t actual_speed; // Aktueller Geschwindigkeits und Richtungsdaten |
GPS_ABS_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
GPS_ABS_POSITION_t gps_home_position; // Die Startposition, beim Kalibrieren ermittelt |
GPS_REL_POSITION_t gps_rel_act_position; // Die aktuelle relative Position bezogen auf Home Position |
GPS_REL_POSITION_t gps_rel_hold_position; // Die gespeicherte Sollposition fuer GPS_ Hold Mode |
GPS_REL_POSITION_t gps_rel_start_position; // Die gespeicherte Ausgangsposition fuer GPS_ Home Mode |
// Initialisierung |
void GPS_Neutral(void) |
{ |
ublox_msg_state = UBLOX_IDLE; |
gps_state = GPS_CRTL_IDLE; |
gps_sub_state = GPS_CRTL_IDLE; |
actual_pos.status = 0; |
actual_speed.status = 0; |
actual_status.status = 0; |
gps_home_position.status = 0; // Noch keine gueltige Home Position |
gps_act_position.status = 0; |
gps_rel_act_position.status = 0; |
GPS_Nick = 0; |
GPS_Roll = 0; |
gps_updte_flag = 0; |
gps_alive_cnt = 0; |
} |
// Home Position sichern falls Daten verfuegbar sind. |
void GPS_Save_Home(void) |
{ |
short int n; |
n = Get_GPS_data(); |
if (n == 0) // Gueltige und aktuelle Daten ? |
{ |
// Neue GPS Daten liegen vor |
gps_home_position.utm_east = gps_act_position.utm_east; |
gps_home_position.utm_north = gps_act_position.utm_north; |
gps_home_position.utm_alt = gps_act_position.utm_alt; |
gps_home_position.status = 1; // Home Position gueltig |
} |
} |
// Relative Position zur Home Position bestimmen |
// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
short int Get_Rel_Position(void) |
{ |
short int n = 0; |
n = Get_GPS_data(); |
if (n >=1) return (n); // nix zu tun, weil keine neue Daten da sind |
if (gps_alive_cnt < 1000) gps_alive_cnt += 600; // Timeoutzaehler. Wird in Motorregler Routine ueberwacht und dekrementiert |
if (gps_home_position.status > 0) //Nur wenn Home Position vorliegt |
{ |
gps_rel_act_position.utm_east = (int) (gps_act_position.utm_east - gps_home_position.utm_east); |
gps_rel_act_position.utm_north = (int) (gps_act_position.utm_north - gps_home_position.utm_north); |
gps_rel_act_position.utm_alt = (int) (gps_act_position.utm_alt - gps_home_position.utm_alt); |
gps_rel_act_position.status = 1; // gueltige Positionsdaten |
n = 0; |
gps_updte_flag = 1; // zeigt an, dass neue Daten vorliegen. |
} |
else |
{ |
n = 2; //keine gueltigen Daten vorhanden |
gps_rel_act_position.status = 0; //keine gueltige Position weil keine home Position da ist. |
} |
return (n); |
} |
// Daten aus aktuellen ublox Messages extrahieren |
// Rueckgabewert 0= Daten sind aktuell und gueltig. 1= Keine Aenderung. 2= Daten ungueltig |
short int Get_GPS_data(void) |
{ |
short int n = 1; |
if (actual_pos.status == 0) return (1); //damit es schnell geht, wenn nix zu tun ist |
if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
{ |
if (((actual_status.gpsfix_type & 0x03) >=2) && ((actual_status.nav_status_flag & 0x01) >=1)) // nur wenn Daten aktuell und gueltig sind |
{ |
actual_status.status = 0; |
gps_act_position.utm_east = actual_pos.utm_east/10; |
gps_act_position.utm_north = actual_pos.utm_north/10; |
gps_act_position.utm_alt = actual_pos.utm_alt/10; |
actual_pos.status = 0; //neue ublox Messages anfordern |
gps_act_position.speed_gnd = actual_speed.speed_gnd; |
gps_act_position.speed_gnd = actual_speed.speed_gnd; |
gps_act_position.heading = actual_speed.heading/100000; |
actual_speed.status = 0; |
gps_act_position.status = 1; |
n = 0; //Daten gueltig |
} |
else |
{ |
gps_act_position.status = 0; //Keine gueltigen Daten |
actual_speed.status = 0; |
actual_status.status = 0; |
actual_pos.status = 0; //neue ublox Messages anfordern |
n = 2; |
} |
} |
return (n); |
} |
/* |
Daten vom GPS im ublox MSG Format auswerten |
Die Routine wird bei jedem Empfang eines Zeichens vom GPS Modul durch den UART IRQ aufgerufen |
// Die UBX Messages NAV_POSUTM, NAV_STATUS und NAV_VALED muessen aktiviert sein |
*/ |
void Get_Ublox_Msg(uint8_t rx) |
{ |
switch (ublox_msg_state) |
{ |
case UBLOX_IDLE: // Zuerst Synchcharacters pruefen |
if ( rx == UBLOX_SYNCH1_CHAR ) ublox_msg_state = UBLOX_SYNC1; |
else ublox_msg_state = UBLOX_IDLE; |
break; |
case UBLOX_SYNC1: |
if (rx == UBLOX_SYNCH2_CHAR) ublox_msg_state = UBLOX_SYNC2; |
else ublox_msg_state = UBLOX_IDLE; |
chk_a = 0,chk_b = 0; |
break; |
case UBLOX_SYNC2: |
if (rx == UBLOX_NAV_CLASS) ublox_msg_state = UBLOX_CLASS; |
else ublox_msg_state = UBLOX_IDLE; |
break; |
case UBLOX_CLASS: // Nur NAV Meldungen auswerten |
switch (rx) |
{ |
case UBLOX_NAV_POSUTM: |
ptr_pac_status = &actual_pos.status; |
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; //Abbruch weil Daten noch nicht verwendet wurden |
else |
{ |
ptr_payload_data = &actual_pos; |
ptr_payload_data_end = &actual_pos.status; |
ublox_msg_state = UBLOX_LEN1; |
} |
break; |
case UBLOX_NAV_STATUS: |
ptr_pac_status = &actual_status.status; |
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
else |
{ |
ptr_payload_data = &actual_status; |
ptr_payload_data_end = &actual_status.status; |
ublox_msg_state = UBLOX_LEN1; |
} |
break; |
case UBLOX_NAV_VELED: |
ptr_pac_status = &actual_speed.status; |
if (*ptr_pac_status > 0) ublox_msg_state = UBLOX_IDLE; |
else |
{ |
ptr_payload_data = &actual_speed; |
ptr_payload_data_end = &actual_speed.status; |
ublox_msg_state = UBLOX_LEN1; |
} |
break; |
default: |
ublox_msg_state = UBLOX_IDLE; |
break; |
} |
chk_a = UBLOX_NAV_CLASS + rx; |
chk_b = UBLOX_NAV_CLASS + chk_a; |
break; |
case UBLOX_LEN1: // Laenge auswerten |
rx_len = rx; |
chk_a += rx; |
chk_b += chk_a; |
ublox_msg_state = UBLOX_LEN2; |
break; |
case UBLOX_LEN2: // Laenge auswerten |
rx_len = rx_len + (rx *256); // Laenge ermitteln |
chk_a += rx; |
chk_b += chk_a; |
ublox_msg_state = UBLOX_PAYLOAD; |
break; |
case UBLOX_PAYLOAD: // jetzt Nutzdaten einlesen |
if (rx_len > 0) |
{ |
*ptr_payload_data = rx; |
chk_a += rx; |
chk_b += chk_a; |
--rx_len; |
if ((rx_len > 0) && (ptr_payload_data <= ptr_payload_data_end)) |
{ |
ptr_payload_data++; |
ublox_msg_state = UBLOX_PAYLOAD; |
} |
else ublox_msg_state = UBLOX_CKA; |
} |
else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
break; |
case UBLOX_CKA: // Checksum pruefen |
if (rx == chk_a) ublox_msg_state = UBLOX_CKB; |
else ublox_msg_state = UBLOX_IDLE; // Abbruch wegen Fehler |
break; |
case UBLOX_CKB: // Checksum pruefen |
if (rx == chk_b) *ptr_pac_status = 1; // Paket ok |
ublox_msg_state = UBLOX_IDLE; |
break; |
default: |
ublox_msg_state = UBLOX_IDLE; |
break; |
} |
} |
//Zentrale Statemachine fuer alle GPS relevanten Regelungsablauefe |
short int GPS_CRTL(short int cmd) |
{ |
static unsigned int cnt; // Zaehler fuer diverse Verzoegerungen |
static long int delta_north,delta_east; // Mass fuer Distanz zur Sollposition |
signed int n; |
static signed int gps_g2t_act_v; // Aktuelle Geschwindigkeitsvorgabe fuer Home Funktion |
signed int dist_frm_start_east,dist_frm_start_north; |
int amplfy_speed_east,amplfy_speed_north; //Verstaerkungsfaktoren fuer D-Anteil |
static signed int int_east,int_north; //Integrierer |
long int speed_east,speed_north; //Aktuelle Geschwindigkeit |
signed long int_east1,int_north1; |
int dist_east,dist_north; |
int diff_p; //Vom Modus abhaengige zusaetzliche Verstaerkung |
long ni,ro; // Nick und Roll Zwischenwerte |
switch (cmd) |
{ |
case GPS_CMD_REQ_HOME: // Es soll zum Startpunkt zurueckgeflogen werden. |
if ((gps_state != GPS_CRTL_HOLD_ACTIVE) && (gps_state != GPS_CRTL_HOME_ACTIVE)) |
{ |
cnt++; |
if (cnt > 50) // erst nach Verzoegerung |
{ |
// Erst mal initialisieren |
cnt = 0; |
gps_tick = 0; |
hold_fast = 0; |
hold_reset_int = 0; // Integrator enablen |
int_east = 0, int_north = 0; |
gps_reg_x = 0, gps_reg_y = 0; |
delta_east = 0, delta_north = 0; |
dist_flown = 0; |
gps_g2t_act_v = 0; |
gps_sub_state = GPS_CRTL_IDLE; |
// aktuelle positionsdaten abspeichern |
if (gps_rel_act_position.status > 0) |
{ |
gps_rel_start_position.utm_east = gps_rel_act_position.utm_east; |
gps_rel_start_position.utm_north= gps_rel_act_position.utm_north; |
gps_rel_start_position.status = 1; // gueltige Positionsdaten |
gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
//Richtung zur Home Position bezogen auf Nordpol bestimmen |
hdng_2home = arctan_i(-gps_rel_start_position.utm_east,-gps_rel_start_position.utm_north); |
// in Winkel 0...360 Grad umrechnen |
if (( gps_rel_start_position.utm_east < 0)) hdng_2home = ( 90-hdng_2home); |
else hdng_2home = (270 - hdng_2home); |
dist_2home = (int) get_dist(gps_rel_start_position.utm_east,gps_rel_start_position.utm_north,hdng_2home); //Entfernung zur Home Position bestimmen |
gps_state = GPS_CRTL_HOME_ACTIVE; |
return (GPS_STST_OK); |
} |
else |
{ |
gps_rel_start_position.status = 0; //Keine Daten verfuegbar |
gps_state = GPS_CRTL_IDLE; |
return(GPS_STST_ERR); // Keine Daten da |
} |
} |
else return(GPS_STST_PEND); // noch warten |
} |
break; |
// ****************************** |
case GPS_CMD_REQ_HOLD: // Die Lageregelung soll aktiviert werden. |
if (gps_state != GPS_CRTL_HOLD_ACTIVE) |
{ |
cnt++; |
if (cnt > 600) // erst nach Verzoegerung |
{ |
cnt = 0; |
// aktuelle positionsdaten abspeichern |
if (gps_rel_act_position.status > 0) |
{ |
hold_fast = 0; |
hold_reset_int = 0; // Integrator enablen |
int_east = 0, int_north = 0; |
gps_reg_x = 0, gps_reg_y = 0; |
delta_east = 0, delta_north = 0; |
speed_east = 0; speed_north= 0; |
int_ovfl_cnt = 0; |
gps_quiet_cnt = 0; |
gps_rel_hold_position.utm_east = gps_rel_act_position.utm_east; |
gps_rel_hold_position.utm_north = gps_rel_act_position.utm_north; |
gps_rel_hold_position.status = 1; // gueltige Positionsdaten |
gps_state = GPS_CRTL_HOLD_ACTIVE; |
return (GPS_STST_OK); |
} |
else |
{ |
gps_rel_hold_position.status = 0; //Keine Daten verfuegbar |
gps_state = GPS_CRTL_IDLE; |
return(GPS_STST_ERR); // Keine Daten da |
} |
} |
else return(GPS_STST_PEND); // noch warten |
} |
break; |
case GPS_CMD_STOP: // Lageregelung beenden |
cnt = 0; |
GPS_Nick = 0; |
GPS_Roll = 0; |
gps_sub_state = GPS_CRTL_IDLE; |
gps_state = GPS_CRTL_IDLE; |
return (GPS_STST_OK); |
break; |
default: |
return (GPS_STST_ERR); |
break; |
} |
switch (gps_state) |
{ |
case GPS_CRTL_IDLE: |
cnt = 0; |
return (GPS_STST_OK); |
break; |
case GPS_CRTL_HOME_ACTIVE: // Rueckflug zur Basis |
//Der Sollwert des Lagereglers wird der Homeposition angenaehert |
if (gps_rel_start_position.status >0) |
{ |
if ((gps_updte_flag > 0) && (gps_sub_state !=GPS_HOME_FINISHED)) // nur wenn neue GPS Daten vorliegen und nicht schon alles fertig ist |
{ |
gps_tick++; |
int d1,d2,d3; |
d1 = abs (gps_rel_hold_position.utm_east - gps_rel_act_position.utm_east ); |
d2 = abs (gps_rel_hold_position.utm_north - gps_rel_act_position.utm_north ); |
d3 = (dist_2home - dist_flown); // Restdistanz zum Ziel |
if (d3 > GPS_G2T_DIST_MAX_STOP) // Schneller Rueckflug, noch weit weg vom Ziel |
{ |
if ((d1 < GPS_G2T_FAST_TOL) && (d2 < GPS_G2T_FAST_TOL)) //nur weiter wenn Lage innerhalb der Toleranz |
{ |
if (gps_g2t_act_v < GPS_G2T_V_MAX-3) gps_g2t_act_v += 4; //Geschwindigkeit erhoehen |
dist_flown +=gps_g2t_act_v; // Vorgabe der Strecke anhand der Geschwindigkeit |
gps_sub_state = GPS_HOME_FAST_IN_TOL; |
} |
else //Den Lageregler in Ruhe arbeiten lassen weil ausserhalb der Toleranz |
{ |
if (gps_g2t_act_v > 1) gps_g2t_act_v--; // Geschwindigkeit reduzieren |
// dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
gps_sub_state = GPS_HOME_FAST_OUTOF_TOL; |
} |
hold_reset_int = 0; // Integrator einsschalten |
hold_fast = 1; // Regler fuer schnellen Flug |
dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
} |
else if (d3 > GPS_G2T_DIST_HOLD) //Das Ziel naehert sich, deswegen abbremsen |
{ |
if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) |
{ |
dist_flown += GPS_G2T_V_RAMP_DWN; // Vorgabe der Strecke anhand der Geschwindigkeit |
gps_sub_state = GPS_HOME_RMPDWN_IN_TOL; |
} |
else |
{ |
dist_flown++; //Auch ausserhalb der Toleranz langsam erhoehen |
gps_sub_state = GPS_HOME_RMPDWN_OUTOF_TOL; |
} |
hold_reset_int = 0; // Integrator einsschalten |
hold_fast = 1; // Regler fuer schnellen Flug |
dist_frm_start_east = (int)(((long)dist_flown * (long)sin_i(hdng_2home))/1000); |
dist_frm_start_north = (int)(((long)dist_flown * (long)cos_i(hdng_2home))/1000); |
gps_rel_hold_position.utm_east = gps_rel_start_position.utm_east + dist_frm_start_east; //naechster Zielpunkt |
gps_rel_hold_position.utm_north = gps_rel_start_position.utm_north + dist_frm_start_north; //naechster Zielpunkt |
} |
else //Soll-Ziel fast erreicht, Jetzt noch Reste ausgleichen, weil Zielpunkt nicht exakt bestimmt werden konnte (Fehler in Winkelfkt) |
{ |
if ((d1 < GPS_G2T_NRML_TOL) && (d2 < GPS_G2T_NRML_TOL)) // Jetzt bis zum Zielpunkt regeln |
{ |
gps_sub_state = GPS_HOME_IN_TOL; |
hold_fast = 0; // Wieder normal regeln |
hold_reset_int = 0; // Integrator einsschalten |
if (gps_rel_hold_position.utm_east >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_east -= GPS_G2T_V_MIN; |
else if (gps_rel_hold_position.utm_east <= -GPS_G2T_V_MIN ) gps_rel_hold_position.utm_east += GPS_G2T_V_MIN; |
if (gps_rel_hold_position.utm_north >= GPS_G2T_V_MIN) gps_rel_hold_position.utm_north -= GPS_G2T_V_MIN; |
else if (gps_rel_hold_position.utm_north <= - GPS_G2T_V_MIN ) gps_rel_hold_position.utm_north += GPS_G2T_V_MIN; |
if ((abs(gps_rel_hold_position.utm_east) <= GPS_G2T_V_MIN) && (abs(gps_rel_hold_position.utm_north) <=GPS_G2T_V_MIN)) |
{ |
gps_rel_hold_position.utm_east = 0; |
gps_rel_hold_position.utm_north = 0; |
gps_sub_state = GPS_HOME_FINISHED; |
} |
} |
else gps_sub_state = GPS_HOME_OUTOF_TOL; |
} |
} |
gps_state = GPS_CRTL_HOLD_ACTIVE; //Zwischensprung |
return (GPS_STST_OK); |
} |
else // Keine GPS Daten verfuegbar, deswegen Abbruch |
{ |
gps_state = GPS_CRTL_IDLE; |
return (GPS_STST_ERR); |
} |
break; |
case GPS_CRTL_HOLD_ACTIVE: // Hier werden die Daten fuer Nick und Roll errechnet |
if (gps_updte_flag >0) // nur wenn neue GPS Daten vorliegen |
{ |
gps_quiet_cnt++; |
// ab hier wird geregelt |
delta_east = (long) (gps_rel_act_position.utm_east - gps_rel_hold_position.utm_east); |
delta_north = (long) (gps_rel_act_position.utm_north - gps_rel_hold_position.utm_north); |
int_east += (int)delta_east; |
int_north += (int)delta_north; |
speed_east = actual_speed.speed_e; |
speed_north = actual_speed.speed_n; |
gps_updte_flag = 0; // Neue Werte koennen vom GPS geholt werden |
dist_east = (int)delta_east; //merken |
dist_north = (int)delta_north; |
#define GPSINT_MAX 3000 // Neues Verfahren ab 30.12.2007 bei Integratoroverflow |
if ((abs(int_east) > GPSINT_MAX) || (abs(int_north)> GPSINT_MAX)) |
{ |
if (int_ovfl_cnt < 40) int_ovfl_cnt += 1; // Zahl der Overflows zaehlen |
} |
if (int_ovfl_cnt > 0) //bei Overflow Wert Integratorwert reduzieren |
{ |
int_ovfl_cnt -= 1; |
int_east = (int_east*7)/8; // Wert reduzieren |
int_north = (int_north*7)/8; |
} |
if (hold_reset_int > 0) //Im Schnellen Mode Integrator abschalten |
{ |
int_east = 0; |
int_north = 0; |
} |
//I Werte begrenzen |
#define INT1_MAX (GPS_NICKROLL_MAX * GPS_V*5)/10// auf 40 Prozent des maximalen Nick/Rollwert begrenzen |
int_east1 = ((((long)int_east) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
int_north1 = ((((long)int_north) * Parameter_UserParam2)/32)/GPS_USR_PAR_FKT; |
if (int_east1 > INT1_MAX) int_east1 = INT1_MAX; //begrenzen |
else if (int_east1 < -INT1_MAX) int_east1 = -INT1_MAX; |
if (int_north1 > INT1_MAX) int_north1 = INT1_MAX; //begrenzen |
else if (int_north1 < -INT1_MAX) int_north1 = -INT1_MAX; |
if (hold_fast > 0) //schneller Coming Home Modus |
{ |
amplfy_speed_east = DIFF_Y_F_MAX; |
amplfy_speed_north = DIFF_Y_F_MAX; |
amplfy_speed_east *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
amplfy_speed_north *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
speed_east = (speed_east * (long)amplfy_speed_east) /50; |
speed_north = (speed_north * (long)amplfy_speed_north)/50; |
// D Werte begrenzen |
#define D_F_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
if (speed_east > D_F_MAX) speed_east = D_F_MAX; |
else if (speed_east < -D_F_MAX) speed_east = -D_F_MAX; |
if (speed_north > D_F_MAX) speed_north = D_F_MAX; |
else if (speed_north < -D_F_MAX) speed_north = -D_F_MAX; |
diff_p = (Parameter_UserParam1 * GPS_PROP_FAST_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
} |
else //langsamer Holdmodus |
{ |
amplfy_speed_east = DIFF_Y_N_MAX; |
amplfy_speed_north = DIFF_Y_N_MAX; |
amplfy_speed_east *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
amplfy_speed_north *= (Parameter_UserParam3/GPS_USR_PAR_FKT); |
speed_east = (speed_east * (long)amplfy_speed_east) /25; |
speed_north = (speed_north * (long)amplfy_speed_north)/25; |
// D Werte begrenzen |
#define D_N_MAX (GPS_NICKROLL_MAX * GPS_V*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen |
if (speed_east > D_N_MAX) speed_east = D_N_MAX; |
else if (speed_east < -D_N_MAX) speed_east = -D_N_MAX; |
if (speed_north > D_N_MAX) speed_north = D_N_MAX; |
else if (speed_north < -D_N_MAX) speed_north = -D_N_MAX; |
diff_p = (Parameter_UserParam1 * GPS_PROP_NRML_V)/GPS_USR_PAR_FKT; //Verstaerkung fuer P-Anteil |
} |
// debug_gp_4 = (int)speed_east; // zum Debuggen |
// debug_gp_5 = (int)speed_north; // zum Debuggen |
//P-Werte verstaerken |
delta_east = (delta_east * (long)diff_p)/(20); |
delta_north = (delta_north * (long)diff_p)/(20); |
if (hold_fast > 0) //schneller Coming Home Modus |
{ |
// P Werte begrenzen |
#define P1_F_MAX (GPS_NICKROLL_MAX * GPS_V*8)/10 // auf 80 Prozent des Maximalen Nick/Rollwert begrenzen |
if (delta_east > P1_F_MAX) delta_east = P1_F_MAX; |
else if (delta_east < -P1_F_MAX) delta_east = -P1_F_MAX; |
if (delta_north > P1_F_MAX) delta_north = P1_F_MAX; |
else if (delta_north < -P1_F_MAX) delta_north = -P1_F_MAX; |
} |
else // Hold modus |
{ |
// P Werte begrenzen |
#define P1_N_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf 70 Prozent des Maximalen Nick/Rollwert begrenzen |
if (delta_east > P1_N_MAX) delta_east = P1_N_MAX; |
else if (delta_east < -P1_N_MAX) delta_east = -P1_N_MAX; |
if (delta_north > P1_N_MAX) delta_north = P1_N_MAX; |
else if (delta_north < -P1_N_MAX) delta_north = -P1_N_MAX; |
} |
debug_gp_2 = (int)delta_east; // zum Debuggen |
debug_gp_3 = (int)delta_north; // zum Debuggen |
//PID Regler Werte aufsummieren |
gps_reg_x = -(int_east1 + delta_east + speed_east); // I + P +D Anteil X Achse |
gps_reg_y = -(int_north1 + delta_north + speed_north); // I + P +D Anteil Y Achse |
debug_gp_0 = (int)gps_reg_x; // zum Debuggen |
debug_gp_1 = (int)gps_reg_y; // zum Debuggen |
// Werte fuer Nick und Roll direkt aus gps_reg_x und gps_reg_y bestimmen |
n = GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; //Ausrichtung Kopter |
ni = -((gps_reg_y * (long)cos_i(n)) + (gps_reg_x * (long)sin_i(n)))/(1000*GPS_V); |
ro = ((gps_reg_x * (long)cos_i(n)) - (gps_reg_y * (long)sin_i(n)))/(1000*GPS_V); |
if (ni > (GPS_NICKROLL_MAX )) ni = (GPS_NICKROLL_MAX); |
else if (ni < -(GPS_NICKROLL_MAX )) ni = -(GPS_NICKROLL_MAX ); |
if (ro > (GPS_NICKROLL_MAX )) ro = (GPS_NICKROLL_MAX ); |
else if (ro < -(GPS_NICKROLL_MAX)) ro = -(GPS_NICKROLL_MAX ); |
if ((abs(dist_east) > GPS_DIST_MAX) || (abs(dist_north) > GPS_DIST_MAX)) // bei zu grossem Abstand abbrechen |
{ |
GPS_Roll = 0; |
GPS_Nick = 0; |
gps_state = GPS_CRTL_IDLE; |
return (GPS_STST_ERR); |
break; |
} |
else if ((PPM_in[7] > 100) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt <=4) ) // Wenn Fotoausloeser gedruckt wird, GPS Stellwerte kurzzeitig auf 0 setzen |
{ |
gps_quiet_cnt++; |
GPS_Roll = 0; |
GPS_Nick = 0; |
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
return (GPS_STST_OK); |
} |
else if ((PPM_in[7] < 50) && (CAM_GPS_QUIET > 0) && (gps_quiet_cnt >= 4)) |
{ |
gps_quiet_cnt = 0; |
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
return (GPS_STST_OK); |
} |
else |
{ |
GPS_Roll = (int)ro; |
GPS_Nick = (int)ni; |
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
return (GPS_STST_OK); |
} |
} |
else |
{ |
if ( cmd == GPS_CMD_REQ_HOME ) gps_state = GPS_CRTL_HOME_ACTIVE; // State umsetzen |
return (GPS_STST_OK); |
} |
break; |
default: |
gps_state = GPS_CRTL_IDLE; |
return (GPS_STST_ERR); |
break; |
} |
return (GPS_STST_ERR); |
} |
/branches/salvo_gps/Basis_v0067g/tags/v0007/License_GPL.txt |
---|
0,0 → 1,674 |
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ALL NECESSARY SERVICING, REPAIR OR CORRECTION. |
16. Limitation of Liability. |
IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING |
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS |
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY |
GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE |
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF |
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD |
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), |
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF |
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17. Interpretation of Sections 15 and 16. |
If the disclaimer of warranty and limitation of liability provided |
above cannot be given local legal effect according to their terms, |
reviewing courts shall apply local law that most closely approximates |
an absolute waiver of all civil liability in connection with the |
Program, unless a warranty or assumption of liability accompanies a |
copy of the Program in return for a fee. |
END OF TERMS AND CONDITIONS |
How to Apply These Terms to Your New Programs |
If you develop a new program, and you want it to be of the greatest |
possible use to the public, the best way to achieve this is to make it |
free software which everyone can redistribute and change under these terms. |
To do so, attach the following notices to the program. It is safest |
to attach them to the start of each source file to most effectively |
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the "copyright" line and a pointer to where the full notice is found. |
<one line to give the program's name and a brief idea of what it does.> |
Copyright (C) <year> <name of author> |
This program is free software: you can redistribute it and/or modify |
it under the terms of the GNU General Public License as published by |
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(at your option) any later version. |
This program is distributed in the hope that it will be useful, |
but WITHOUT ANY WARRANTY; without even the implied warranty of |
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
GNU General Public License for more details. |
You should have received a copy of the GNU General Public License |
along with this program. If not, see <http://www.gnu.org/licenses/>. |
Also add information on how to contact you by electronic and paper mail. |
If the program does terminal interaction, make it output a short |
notice like this when it starts in an interactive mode: |
<program> Copyright (C) <year> <name of author> |
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. |
This is free software, and you are welcome to redistribute it |
under certain conditions; type `show c' for details. |
The hypothetical commands `show w' and `show c' should show the appropriate |
parts of the General Public License. Of course, your program's commands |
might be different; for a GUI interface, you would use an "about box". |
You should also get your employer (if you work as a programmer) or school, |
if any, to sign a "copyright disclaimer" for the program, if necessary. |
For more information on this, and how to apply and follow the GNU GPL, see |
<http://www.gnu.org/licenses/>. |
The GNU General Public License does not permit incorporating your program |
into proprietary programs. If your program is a subroutine library, you |
may consider it more useful to permit linking proprietary applications with |
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/branches/salvo_gps/Basis_v0067g/tags/v0007/License_LPGL.txt |
---|
0,0 → 1,165 |
GNU LESSER GENERAL PUBLIC LICENSE |
Version 3, 29 June 2007 |
Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/> |
Everyone is permitted to copy and distribute verbatim copies |
of this license document, but changing it is not allowed. |
This version of the GNU Lesser General Public License incorporates |
the terms and conditions of version 3 of the GNU General Public |
License, supplemented by the additional permissions listed below. |
0. Additional Definitions. |
As used herein, "this License" refers to version 3 of the GNU Lesser |
General Public License, and the "GNU GPL" refers to version 3 of the GNU |
General Public License. |
"The Library" refers to a covered work governed by this License, |
other than an Application or a Combined Work as defined below. |
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1. Exception to Section 3 of the GNU GPL. |
You may convey a covered work under sections 3 and 4 of this License |
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6. Revised Versions of the GNU Lesser General Public License. |
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/branches/salvo_gps/Basis_v0067g/tags/v0007/License_buss.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/salvo_gps/Basis_v0067g/tags/v0007/README_Gps_Deutsch.txt |
---|
0,0 → 1,90 |
********************************************************************* |
GPS Implementierung von Peter Muehlenbrock ("Salvo") für Mikrokopter/FlightCrtl |
Stand 21.1.2008 |
Verwendung der SW ohne Gewaehr. Siehe auch die Lizenzbedingungen in File Licensce_LPGL.txt und Licensce_GPL.txt |
Die Version basiert auf Holgers V00.67g. |
********************************************************************* |
Hardware-Voraussetzungen: |
Kalibrierter Kompass vom Typ CMPS03, waagrecht eingebaut |
GPS Modul vom Typ ublox, Die Meldungungen "NAV_STATUS", "NAV_POSUTM" und "NAV_VELNED" |
mussen mit 4 HZ Updaterate aktiviert sein. Alle Meldungen im NMEA Format muessen deaktivert sein. |
Anschluss an RX Port der FlightCRtl. Baudrate ist 57600 wie beim Kopter Tool. |
Software-Voraussetzungen: |
In timer0.h muss die Ausrichtung des Kompasses bezogen auf die Nordachse des Kopters |
eingetragen sein. Wenn KOMPASS_OFFSET > 0 wird dieser Wert genommen |
Wenn KOMPASS_OFFSET = 0 ist wird der UserParameter4 verwendet (=hexfile). Da die Userparameter nur ein Byte lang sind werden |
Offsets von 0...358 Grad durch einen Wert von 0...179 dargestellt. |
Betriebs-Voraussetzungen: |
Damit der Kompass sauber funktioniert, muss die waagrechte Lage (Gashebel Vollanschlag und Gier rechts) |
im Eeprom abgespeichert worden sein. |
Parametrierung: |
Der GPS Hold Regler ist ein PID Regler, der ueber die UserParameter1(P), 2(I) und D(3) gesteuert wird. |
UserParameter1 beschreibt den P(roportional)-Anteil, UserParameter2 den I(ntegral)-Anteil und UserParameter3 den D(ifferential)-Anteil. |
Hier kann und muss gespielt werden.Alle Parameter koennen direkt im Mikrokoptertool in den Settings eingestellt werden. |
Der P-Anteil wirkt einer Lageänderung entgegen. Je größer er ist, desto geringer die Regelabweichung, desto höher aber auch die Schwingneigung. |
Der D-Anteil wirkt einer Geschwindigkeitsänderung entgegen und dient zur Reduzierung von Schwingungen, darf aber auch nicht zu gross sein. |
Der I-Anteil dient nur dazu die Lageabweichung auf Null zu bringen. |
P und D Anteil mussen gut aufeinander abgestimmt sein, damit die Einschwingzeit klein bei gleichzeitig geringer Schwingneigung ist. |
Standarddwerte für P,I,D sind 80,16,80. |
Wenn alle 0 sind, ist der Regler deaktiviert. |
Voraussetzungen für GPS_Hold: |
Neben den genannten HW und SW Voraussetzungen muß beim Kalibrieren das GPS MOdul bereits Positionsdaten liefern. |
Nur dann wird die Home Position abgespeichert und nur dann wird GPS_Hold aktiviert. |
Kenntlich gemacht wird dies durch einen etwas längeren Piepser nach dem Kalibrieren. Die Rote Led auf der FlightCrtl blitzt bei jedem Empfang eines kompletten |
und korrekten Meldungsset ( "NAV_STATUS", "NAV_POSUTM" und "NAV_VELNED"). |
Das GPS Aktiv Flag im Setting muss aktiviert sein. |
Eine Ausrichtung des Kopters nach Nord etc. ist nicht erforderlich. |
Aktivierung GPS_Hold im Flug: |
Wenn alle genannten Voraussetzungen erfüllt sind, wird GPS Hold im Flug automatisch aktiviert, sobald der Nick und Roll Stick |
für ca. 500msec in Neutrallage sind. Weicht einer der Sticks davon ab (Parameter GPS_STICK_HOLDOFF) oder liefert das GPS Modul oder fällt der |
Kompass aus wird GPS_Hold sofort deaktiviert. |
Damit kann jederzeit die manuelle Kontrolle wieder übernommen werden. |
GPS_Hold regelt nur horizontale Abweichungen, keine Hoehe. |
Der Magnetkompass wird nur in waagrechter Lage dazu benutzt einen internen aus dem Giergyro ermittelten "Ersatz"kompasswert |
nach zu kalibrieren. Daher funktioniert die Bstimmung der Kopterausrichtung in jeder Lebenslage, sofern nur ab und zu |
der Magnetkompass in die waagrechte Lage kommt. Da der Giergyro per Kompass automatisch offsetkorrigiert wird, ist er spätestens nach |
einigen wenigen Minuten auch bei Temperatursprüngen ausreichend stabil. |
Ein 3D Kompass ist damit überflüssig. |
Die GPS Regelung benötigt zwar pro Durchlauf eine erhebliche Rechenzeit. Da sie aber nur einmal je neuem Meldungsblock vom |
GPS Modul (also alle 250ms) aufgerufen wird, wird die Gesamtbelastung der CPU nur minimal erhöht. |
Ein externes Naviboard ist daher nicht notwendig. |
GPS Rücksturz zur Basis (GPS Home) Funktion |
Voraussetzungen wie bei GPS Hold. |
Die Funktion kann im Flug aktiviert werden durch Setzen des Hoehenreglerschalters. |
Holgers Code habe ich so abgeändert daß der Höhenregler mit "Parameter_MaxHoehe" ab 50 aktiviert wird. |
Mit einem Schalter mit Neutrallage können damit die Funktionen |
Alles aus - Hoehenregler ein, GPS Home Aus - Hoehenregler Ein UND GPS Home ein |
aktiviert werden. Ist noch nicht die beste Lösung und werde ich noch anpassen |
Weitere Änderungen: |
-Bei Unterschreiten der eingestellten Warnschwelle für UBAT ertönt zunächst wie gewohnt der Piepser. Geht die Spannung weiter |
runter wird zwangsweise die Gaseinstellung langsam reduziert um den Kopter zum Landen zu bringen. |
-Der Ausgang PC6 kann benutzt werden um einen Externen Multiplexer zu schalten. Dieser schaltet entweder die GPS Daten |
(Wenn Motoren eingeschaltet sind) oder den Ausgang des Bluetoothmoduls (wenn Motoren ausgeschaltet sind) auf den RX |
Eingang der FlightCrtl. Damit kann eine zweite UART Schnittstelle bzw. die manuelle Umschaltung entfallen |
-Bei vorhandenem Kompass wird eine automatische Kompensation der Giergyrodrift durchgeführt. |
/branches/salvo_gps/Basis_v0067g/tags/v0007/README_Gps_English.txt |
---|
0,0 → 1,66 |
********************************************************************* |
GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl |
As of Jan, 20th 2007 |
Please note the files Licensce_LPGL.txt and Licensce_GPL.txt |
This SW is based on Holgers V00.67g. |
********************************************************************* |
Hardware-requirements: |
Calibrated compass of type CMPS03, horizontally adjusted |
GPS module of type ublox, The messages "NAV_STATUS", "NAV_POSUTM" and "NAV_VELNED" |
must be activated with 4 HZ update rate. All messages of type NMEA should be disabled. |
The TX port of the GPS module must be connected to the RX input of the Flight Crtl. Baudrate is 57600 (like Kopter Tool). |
UserParameter 4 tells the software the orientation for the compass. The difference between the "north" direction |
( = Motor "vorne" or 1 as described in Holgers Flight Crtl manual) of the kopter |
and the north direction of the compass is represented as follows: 0...360 degree offset corresponds to a value of 0...180. |
(A userparameter ist only 1 byte long and therefore can not directly represent 0..360 degree). Please check the |
correct value via the Koptertool. The "Kompass" debug value has to show the correct orientation: |
kopter Motor vorne orientated to north => value approx 0 Degree) |
Other requirements: |
Please calibrate the ACC Sensor values (pitch full, yaw full right) in horizontal orientation of the kopter |
as exactly as possible. |
Parameters: |
The GPS Hold regulator is of type PID: UserParameter1 =P(proportional), UserParameter2 = I(ntegral), |
UserParameter3 = D(ifferential). Standardvalues for P,I and D are 80,16,80. |
The I-Part may be set to 0 if a small deviation from hold position is acceptable. The D-Part is important to avoid |
oscillating. |
Please find out the best values yourself. |
It might be useful to put the P and D Part on potis and test the behaviour in flight. |
Requirements for GPS_Hold: |
The gps module has do provide a 3D-fix. If succesfull, you can hear a longer beep when performing a gyro calibration. |
Without a succesfull position fix at calibration the GPS functionality ist completely disabled. |
The red led on the FlightCrtl flashes with a 4 Hz rate if the gps module delivers a position fix. |
Enabling GPS_Hold in fligh: |
GPS Hold is automatically activated if the sticks for roll and nick are in neutral position for about 400ms. |
Moving the stick immediately disables the Hold mode. The GPS Hold function doesn not change height, pitch or yaw. |
GPS Coming-Home function |
The coming-home function is activated by the same switch as for the height regulator, if the switch is set to maximum. |
The height regulator itself is activated at approx. Maximum/2. |
Other changes: |
- automatic pitch reduction if the battery voltage falls more than 0.2V below the warning limit. |
- Output PC6 can be used to switch TX data between a Bluetooth and the GPS Module (further hardware required) to the RX input of the FlightCrtl |
- automatic Yaw gyro compensation if compass is available. |
/branches/salvo_gps/Basis_v0067g/tags/v0007/Settings.h |
---|
--- tags/v0007/_Settings.h (nonexistent) |
+++ tags/v0007/_Settings.h (revision 672) |
@@ -0,0 +1,50 @@ |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+// Testmodi |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+#define MOTOR_OFF 0 |
+#define MOTOR_TEST 0 |
+ |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+// Abstimmung |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+#define ACC_AMPLIFY 16 |
+#define FAKTOR_P 1 |
+#define FAKTOR_I 0.0001 |
+ |
+ |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+// Debug-Interface |
+// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
+#define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
+#define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Debugdaten 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/salvo_gps/Basis_v0067g/tags/v0007/analog.c |
---|
0,0 → 1,145 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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; |
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/salvo_gps/Basis_v0067g/tags/v0007/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/salvo_gps/Basis_v0067g/tags/v0007/eeprom.c |
---|
0,0 → 1,183 |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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 = 3; //2 // Wert : 1-6 |
//EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
EE_Parameter.Stick_D = 4; //8 // Wert : 0-64 Salvo |
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 = 98; // Wert : 0-250 |
EE_Parameter.NotGas = 95; // Wert : 0-250 // Gaswert bei Empangsverlust |
EE_Parameter.NotGasZeit = 60; // 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 = 90; // P Anteil GPS |
EE_Parameter.UserParam2 = 24; // I Anteil GPS |
EE_Parameter.UserParam3 = 130; //D Anteil GPS |
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 = 98; // Wert : 0-250 |
EE_Parameter.NotGas = 95; // Wert : 0-250 // Gaswert bei Empangsverlust |
EE_Parameter.NotGasZeit = 60; // 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 = 98; // Wert : 0-250 |
EE_Parameter.NotGas = 95; // Wert : 0-250 // Gaswert bei Empangsverlust |
EE_Parameter.NotGasZeit = 60; // 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/salvo_gps/Basis_v0067g/tags/v0007/fc.c |
---|
0,0 → 1,1384 |
/*####################################################################################### |
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. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 9.11.2008 |
/* |
Driftkompensation fuer Gyros verbessert |
Linearsensor optional mit fixem Neutralwert |
Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsunabhaengige Kompassfunktion |
*/ |
#include "main.h" |
#include "eeprom.c" |
unsigned char h,m,s; |
volatile unsigned int I2CTimeout = 100; |
volatile int MesswertNick,MesswertRoll,MesswertGier; |
volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
volatile float NeutralAccZ = 0; |
unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
volatile long IntegralNick = 0,IntegralNick2 = 0; |
volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
volatile long IntegralAccNick = 0,IntegralAccRoll = 0,IntegralAccZ = 0; |
volatile long Integral_Gier = 0; |
volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
volatile long MittelIntegralNick,MittelIntegralRoll,MittelIntegralNick2,MittelIntegralRoll2; |
volatile long Mess_Integral_Hoch = 0; |
volatile int KompassValue = 0; |
volatile int KompassStartwert = 0; |
volatile int KompassRichtung = 0; |
unsigned char MAX_GAS,MIN_GAS; |
unsigned char Notlandung = 0; |
unsigned char HoehenReglerAktiv = 0; |
long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
//Salvo 12.10.2007 |
uint8_t magkompass_ok=0; |
uint8_t gps_cmd = GPS_CMD_STOP; |
static int ubat_cnt =0; |
static int gas_actual,gas_mittel; //Parameter fuer Gasreduzierung bei unterspannung |
int w,v; |
//Salvo End |
//Salvo 15.12.2007 Ersatzkompass und Giergyrokompensation |
long GyroKomp_Int; |
long int GyroGier_Comp; |
int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass |
short int cnt_stickgier_zero =0; |
int gyrogier_kompass; |
//Salvo End |
//Salvo 2.1.2008 Allgemeine Debugvariablen |
int debug_gp_0,debug_gp_1,debug_gp_2,debug_gp_3,debug_gp_4,debug_gp_5,debug_gp_6,debug_gp_7; |
//Salvo End |
float GyroFaktor; |
float IntegralFaktor; |
volatile int DiffNick,DiffRoll; |
int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
unsigned char MotorWert[5]; |
volatile unsigned char SenderOkay = 0; |
int StickNick = 0,StickRoll = 0,StickGier = 0; |
char MotorenEin = 0; |
int HoehenWert = 0; |
int SollHoehe = 0; |
int LageKorrekturRoll = 0,LageKorrekturNick = 0; |
float Ki = FAKTOR_I; |
unsigned char Looping_Nick = 0,Looping_Roll = 0; |
unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
unsigned char Parameter_UserParam1 = 0; |
unsigned char Parameter_UserParam2 = 0; |
unsigned char Parameter_UserParam3 = 0; |
unsigned char Parameter_UserParam4 = 0; |
unsigned char Parameter_UserParam5 = 0; |
unsigned char Parameter_UserParam6 = 0; |
unsigned char Parameter_UserParam7 = 0; |
unsigned char Parameter_UserParam8 = 0; |
unsigned char Parameter_ServoNickControl = 100; |
unsigned char Parameter_LoopGasLimit = 70; |
unsigned char Parameter_AchsKopplung1 = 0; |
unsigned char Parameter_AchsGegenKopplung1 = 0; |
unsigned char Parameter_DynamicStability = 100; |
struct mk_param_struct EE_Parameter; |
signed int ExternStickNick = 0,ExternStickRoll = 0,ExternStickGier = 0, ExternHoehenValue = -20; |
void Piep(unsigned char Anzahl) |
{ |
while(Anzahl--) |
{ |
if(MotorenEin) return; //auf keinen Fall im Flug! |
beeptime = 100; |
Delay_ms(250); |
} |
} |
//############################################################################ |
// Nullwerte ermitteln |
void SetNeutral(void) |
//############################################################################ |
{ |
// Salvo 9.12.2007 |
RX_SWTCH_ON; //GPS Daten auf RX eingang schalten |
// Salvo End |
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; |
GyroGier_Comp =0; |
StartLuftdruck = Luftdruck; |
HoeheD = 0; |
Mess_Integral_Hoch = 0; |
KompassStartwert = KompassValue; |
GPS_Neutral(); |
beeptime = 50; |
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
ExternHoehenValue = 0; |
//Salvo 13.10.2007 Ersatzkompass und Gas |
GyroKomp_Int = KompassValue * GYROKOMP_INC_GRAD_DEFAULT; //Neu ab 3.1.2007 |
gas_mittel = 30; |
gas_actual = gas_mittel; |
// Salvo End |
} |
//############################################################################ |
// 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 ++++++++++++++++++++++++++++++++++++++++++++++++ |
//Salvo 12.11.2007 |
GyroKomp_Int += (long)MesswertGier; |
GyroGier_Comp += (long)MesswertGier; |
//Salvo End |
Mess_Integral_Gier += MesswertGier; |
Mess_Integral_Gier2 += MesswertGier; |
// Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
if(!Looping_Nick && !Looping_Roll && (EE_Parameter.GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) |
{ |
tmpl = Mess_IntegralNick / 4096L; |
tmpl *= MesswertGier; |
tmpl *= Parameter_AchsKopplung1; //125 |
tmpl /= 2048L; |
tmpl2 = Mess_IntegralRoll / 4096L; |
tmpl2 *= MesswertGier; |
tmpl2 *= Parameter_AchsKopplung1; |
tmpl2 /= 2048L; |
} |
else tmpl = tmpl2 = 0; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
MesswertRoll += tmpl; |
MesswertRoll += (tmpl2*Parameter_AchsGegenKopplung1)/512L; //109 |
Mess_IntegralRoll2 += MesswertRoll; |
Mess_IntegralRoll += MesswertRoll - LageKorrekturRoll; |
if(Mess_IntegralRoll > Umschlag180Roll) |
{ |
Mess_IntegralRoll = -(Umschlag180Roll - 10000L); |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
} |
if(Mess_IntegralRoll <-Umschlag180Roll) |
{ |
Mess_IntegralRoll = (Umschlag180Roll - 10000L); |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
} |
if(AdWertRoll < 15) MesswertRoll = -1000; |
if(AdWertRoll < 7) MesswertRoll = -2000; |
if(PlatinenVersion == 10) |
{ |
if(AdWertRoll > 1010) MesswertRoll = +1000; |
if(AdWertRoll > 1017) MesswertRoll = +2000; |
} |
else |
{ |
if(AdWertRoll > 2020) MesswertRoll = +1000; |
if(AdWertRoll > 2034) MesswertRoll = +2000; |
} |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
MesswertNick -= tmpl2; |
MesswertNick -= (tmpl*Parameter_AchsGegenKopplung1)/512L; |
Mess_IntegralNick2 += MesswertNick; |
Mess_IntegralNick += MesswertNick - LageKorrekturNick; |
if(Mess_IntegralNick > Umschlag180Nick) |
{ |
Mess_IntegralNick = -(Umschlag180Nick - 10000L); |
Mess_IntegralNick2 = Mess_IntegralNick; |
} |
if(Mess_IntegralNick <-Umschlag180Nick) |
{ |
Mess_IntegralNick = (Umschlag180Nick - 10000L); |
Mess_IntegralNick2 = Mess_IntegralNick; |
} |
if(AdWertNick < 15) MesswertNick = -1000; |
if(AdWertNick < 7) MesswertNick = -2000; |
if(PlatinenVersion == 10) |
{ |
if(AdWertNick > 1010) MesswertNick = +1000; |
if(AdWertNick > 1017) MesswertNick = +2000; |
} |
else |
{ |
if(AdWertNick > 2020) MesswertNick = +1000; |
if(AdWertNick > 2034) MesswertNick = +2000; |
} |
//++++++++++++++++++++++++++++++++++++++++++++++++ |
// ADC einschalten |
ANALOG_ON; |
//++++++++++++++++++++++++++++++++++++++++++++++++ |
Integral_Gier = Mess_Integral_Gier; |
IntegralNick = Mess_IntegralNick; |
IntegralRoll = Mess_IntegralRoll; |
IntegralNick2 = Mess_IntegralNick2; |
IntegralRoll2 = Mess_IntegralRoll2; |
if(EE_Parameter.GlobalConfig & CFG_DREHRATEN_BEGRENZER && !Looping_Nick && !Looping_Roll) |
{ |
if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
else if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
else if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
} |
if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
} |
//############################################################################ |
// Messwerte beim Ermitteln der Nullage |
void CalibrierMittelwert(void) |
//############################################################################ |
{ |
// ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
ANALOG_OFF; |
MesswertNick = AdWertNick; |
MesswertRoll = AdWertRoll; |
MesswertGier = AdWertGier; |
Mittelwert_AccNick = ACC_AMPLIFY * (long)AdWertAccNick; |
Mittelwert_AccRoll = ACC_AMPLIFY * (long)AdWertAccRoll; |
Mittelwert_AccHoch = (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--; |
if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
} |
//############################################################################ |
// Senden der Motorwerte per I2C-Bus |
void SendMotorData(void) |
//############################################################################ |
{ |
if(MOTOR_OFF || !MotorenEin) |
{ |
Motor_Hinten = 0; |
Motor_Vorne = 0; |
Motor_Rechts = 0; |
Motor_Links = 0; |
if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
if(MotorTest[2]) Motor_Links = MotorTest[2]; |
if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
} |
DebugOut.Analog[12] = Motor_Vorne; |
DebugOut.Analog[13] = Motor_Hinten; |
DebugOut.Analog[14] = Motor_Links; |
DebugOut.Analog[15] = Motor_Rechts; |
//Start I2C Interrupt Mode |
twi_state = 0; |
motor = 0; |
i2c_start(); |
} |
//############################################################################ |
// Trägt ggf. das Poti als Parameter ein |
void ParameterZuordnung(void) |
//############################################################################ |
{ |
#define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5,0,255); |
CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6,0,255); |
CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7,0,255); |
CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8,0,255); |
CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit,0,255); |
CHK_POTI(Parameter_AchsKopplung1, EE_Parameter.AchsKopplung1,0,255); |
CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability,0,255); |
Ki = (float) Parameter_I_Faktor * 0.0001; |
MAX_GAS = EE_Parameter.Gas_Max; |
MIN_GAS = EE_Parameter.Gas_Min; |
} |
//############################################################################ |
// |
void MotorRegler(void) |
//############################################################################ |
{ |
int motorwert,pd_ergebnis,h,tmp_int; |
int GierMischanteil,GasMischanteil; |
static long SummeNick=0,SummeRoll=0; |
static long sollGier = 0,tmp_long,tmp_long2; |
static long IntegralFehlerNick = 0; |
static long IntegralFehlerRoll = 0; |
static unsigned int RcLostTimer; |
static unsigned char delay_neutral = 0; |
static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
static unsigned int modell_fliegt = 0; |
static int hoehenregler = 0; |
static char TimerWerteausgabe = 0; |
static char NeueKompassRichtungMerken = 0; |
static long ausgleichNick, ausgleichRoll; |
Mittelwert(); |
//****** GPS Daten holen *************** |
short int n; |
if (gps_alive_cnt > 0) gps_alive_cnt--; //Dekrementieren. Wenn 0 kommen keine ausreichenden GPS Meldungen (Timeout) |
n = Get_Rel_Position(); |
if (n == 0) |
{ |
ROT_ON; //led blitzen lassen |
} |
//******PROVISORISCH*************** |
GRN_ON; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gaswert ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
if(GasMischanteil > MAX_GAS - 20) GasMischanteil = MAX_GAS - 20; |
//Salvo 13.10.2007 langsame Gasreduktion bei Unterspannung. Als Ausgangswert wird der bei UBAT=k gemessen Mittelwert genommen |
// und dieser dann langsam zwangsweise reduziert |
if (UBat <= EE_Parameter.UnterspannungsWarnung - 4) //Unterhalb der Piepser Schwelle aktivieren |
{ |
if (ubat_cnt > 1000) |
{ |
ubat_cnt = 0; |
if (gas_actual > ((gas_mittel*12)/15)) gas_actual--; |
} |
else ubat_cnt++; |
if (GasMischanteil > gas_actual) GasMischanteil = gas_actual; |
} |
else //Falls UBAT wieder ok ist |
{ |
if (ubat_cnt > 1000) |
{ |
gas_mittel = ((gas_mittel*9) + GasMischanteil)/10; //Filtern |
gas_actual = GasMischanteil; |
} |
else |
{ |
ubat_cnt++; |
if ((ubat_cnt % 10) == 0) |
{ |
if (gas_actual < GasMischanteil) gas_actual++; |
else gas_actual = GasMischanteil; |
} |
} |
GasMischanteil = gas_actual; |
} |
// Salvo End |
if(GasMischanteil < 0) GasMischanteil = 0; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Empfang schlecht |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay < 100) |
{ |
if(!PcZugriff) |
{ |
if(BeepMuster == 0xffff) |
{ |
beeptime = 15000; |
BeepMuster = 0x0c00; |
} |
} |
if(RcLostTimer) RcLostTimer--; |
else |
{ |
MotorenEin = 0; |
Notlandung = 0; |
} |
ROT_ON; |
if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
{ |
GasMischanteil = EE_Parameter.NotGas; |
Notlandung = 1; |
PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
} |
else MotorenEin = 0; |
} |
else |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Emfang gut |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(SenderOkay > 140) |
{ |
Notlandung = 0; |
RcLostTimer = EE_Parameter.NotGasZeit * 50; |
if(GasMischanteil > 40) |
{ |
if(modell_fliegt < 0xffff) modell_fliegt++; |
} |
if((modell_fliegt < 200) || (GasMischanteil < 40)) |
{ |
SummeNick = 0; |
SummeRoll = 0; |
Mess_Integral_Gier = 0; |
Mess_Integral_Gier2 = 0; |
} |
if((GasMischanteil > 200) && MotorenEin == 0) |
{ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// auf Nullwerte kalibrieren |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
{ |
if(++delay_neutral > 200) // nicht sofort |
{ |
GRN_OFF; |
SetNeutral(); |
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 |
} |
ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
Piep(GetActiveParamSetNumber()); |
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
{ |
if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
} |
GPS_Save_Home(); //Daten sind jetzt hoffentlich verfuegbar |
if (gps_home_position.status > 0 ) |
{ |
Delay_ms(1000); //akustisch verkuenden dass GPS Home Daten da sind |
beeptime = 1000; |
Delay_ms(500); |
} |
} |
} |
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(); |
if (ACC_FIXED > 0) |
{ |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK],ACC_NICK_NEUTRAL / 256); // ACC-NeutralWerte speichern |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_NICK+1],ACC_NICK_NEUTRAL % 256); // ACC-NeutralWerte speichern |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL],ACC_ROLL_NEUTRAL / 256); |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_ROLL+1],ACC_ROLL_NEUTRAL % 256); |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z],(int)ACC_Z_NEUTRAL / 256); |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACC_Z+1],(int)ACC_Z_NEUTRAL % 256); |
} |
else |
{ |
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) |
{ |
int n; |
// Salvo 9.12.2007 |
RX_SWTCH_ON; //GPS Daten auf RX eingang schalten |
// Salvo End |
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; |
n= GPS_CRTL(GPS_CMD_STOP); //GPS Lageregelung beenden |
} |
} |
else delay_einschalten = 0; |
//Auf Neutralwerte setzen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Auschalten |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
{ |
if(++delay_ausschalten > 200) // nicht sofort |
{ |
// Salvo 9.12.2007 |
RX_SWTCH_OFF; //Bluetooth Daten auf RX eingang schalten |
// Salvo End |
MotorenEin = 0; |
delay_ausschalten = 200; |
modell_fliegt = 0; |
} |
} |
else delay_ausschalten = 0; |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// neue Werte von der Funke |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!NewPpmData-- || Notlandung) |
{ |
int tmp_int; |
ParameterZuordnung(); |
StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
#define KEY_VALUE (Parameter_UserParam1 * 4) //(Poti3 * 8) |
if(DubWiseKeys[1]) beeptime = 10; |
if(DubWiseKeys[1] & DUB_KEY_UP) tmp_int = KEY_VALUE; else |
if(DubWiseKeys[1] & DUB_KEY_DOWN) tmp_int = -KEY_VALUE; else tmp_int = 0; |
ExternStickNick = (ExternStickNick * 7 + tmp_int) / 8; |
if(DubWiseKeys[1] & DUB_KEY_LEFT) tmp_int = KEY_VALUE; else |
if(DubWiseKeys[1] & DUB_KEY_RIGHT) tmp_int = -KEY_VALUE; else tmp_int = 0; |
ExternStickRoll = (ExternStickRoll * 7 + tmp_int) / 8; |
if(DubWiseKeys[0] & 8) ExternStickGier = 50;else |
if(DubWiseKeys[0] & 4) ExternStickGier =-50;else ExternStickGier = 0; |
if(DubWiseKeys[0] & 2) ExternHoehenValue++; |
if(DubWiseKeys[0] & 16) ExternHoehenValue--; |
StickNick += ExternStickNick / 8; |
StickRoll += ExternStickRoll / 8; |
StickGier += ExternStickGier; |
if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
if(GyroFaktor < 0) GyroFaktor = 0; |
if(IntegralFaktor < 0) IntegralFaktor = 0; |
// greift in den Stick ein, um ungewolltes überschlagen zu verhindern |
if(!(EE_Parameter.LoopConfig & CFG_LOOP_LINKS) && !(EE_Parameter.LoopConfig & CFG_LOOP_RECHTS)) |
{ |
if(IntegralNick > 60000) |
{ |
StickNick -= 8 * EE_Parameter.Stick_P; |
if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P; |
} |
else |
if(IntegralNick < -60000) |
{ |
StickNick += 8 * EE_Parameter.Stick_P; |
if(IntegralNick > 80000) StickNick -= 16 * EE_Parameter.Stick_P; |
} |
if(IntegralRoll > 60000) |
{ |
StickRoll -= 8 * EE_Parameter.Stick_P; |
if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P; |
} |
else |
if(IntegralRoll < -60000) |
{ |
StickRoll += 8 * EE_Parameter.Stick_P; |
if(IntegralRoll > 80000) StickRoll -= 16 * EE_Parameter.Stick_P; |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Looping? |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_LINKS) Looping_Links = 1; |
else |
{ |
{ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Links = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_RECHTS) Looping_Rechts = 1; |
else |
{ |
if(Looping_Rechts) // Hysterese |
{ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Rechts = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_OBEN) Looping_Oben = 1; |
else |
{ |
if(Looping_Oben) // Hysterese |
{ |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < (EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese))) Looping_Oben = 0; |
} |
} |
if((PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < -EE_Parameter.LoopThreshold) && EE_Parameter.LoopConfig & CFG_LOOP_UNTEN) Looping_Unten = 1; |
else |
{ |
if(Looping_Unten) // Hysterese |
{ |
if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > -(EE_Parameter.LoopThreshold - EE_Parameter.LoopHysterese)) Looping_Unten = 0; |
} |
} |
if(Looping_Links || Looping_Rechts) Looping_Roll = 1; else Looping_Roll = 0; |
if(Looping_Oben || Looping_Unten) {Looping_Nick = 1; Looping_Roll = 0; Looping_Links = 0; Looping_Rechts = 0;} else Looping_Nick = 0; |
} // Ende neue Funken-Werte |
if(Looping_Roll) beeptime = 100; |
if(Looping_Roll || Looping_Nick) |
{ |
if(GasMischanteil > EE_Parameter.LoopGasLimit) GasMischanteil = EE_Parameter.LoopGasLimit; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Bei Empfangsausfall im Flug |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(Notlandung) |
{ |
StickGier = 0; |
StickNick = 0; |
StickRoll = 0; |
GyroFaktor = 0.1; |
IntegralFaktor = 0.005; |
Looping_Roll = 0; |
Looping_Nick = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Integrale auf ACC-Signal abgleichen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define ABGLEICH_ANZAHL 256L |
MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
MittelIntegralRoll += IntegralRoll; |
MittelIntegralNick2 += IntegralNick2; |
MittelIntegralRoll2 += IntegralRoll2; |
if(Looping_Nick || Looping_Roll) |
{ |
IntegralAccNick = 0; |
IntegralAccRoll = 0; |
MittelIntegralNick = 0; |
MittelIntegralRoll = 0; |
MittelIntegralNick2 = 0; |
MittelIntegralRoll2 = 0; |
Mess_IntegralNick2 = Mess_IntegralNick; |
Mess_IntegralRoll2 = Mess_IntegralRoll; |
ZaehlMessungen = 0; |
LageKorrekturNick = 0; |
LageKorrekturRoll = 0; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!Looping_Nick && !Looping_Roll) |
{ |
long tmp_long, tmp_long2; |
tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
tmp_long /= 16; |
tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
tmp_long2 /= 16; |
#define AUSGLEICH 32 //(Parameter_UserParam1 / 2) |
if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
Mess_IntegralNick -= tmp_long; |
Mess_IntegralRoll -= tmp_long2; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(ZaehlMessungen >= ABGLEICH_ANZAHL) |
{ |
static int cnt = 0; |
static char last_n_p,last_n_n,last_r_p,last_r_n; |
static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
if(!Looping_Nick && !Looping_Roll) |
{ |
MittelIntegralNick /= ABGLEICH_ANZAHL; |
MittelIntegralRoll /= ABGLEICH_ANZAHL; |
IntegralAccNick = (EE_Parameter.GyroAccFaktor * IntegralAccNick) / ABGLEICH_ANZAHL; |
IntegralAccRoll = (EE_Parameter.GyroAccFaktor * IntegralAccRoll) / ABGLEICH_ANZAHL; |
IntegralAccZ = IntegralAccZ / ABGLEICH_ANZAHL; |
#define MAX_I 0//(Poti2/10) |
// Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralFehlerNick = (long)(MittelIntegralNick - (long)IntegralAccNick); |
ausgleichNick = IntegralFehlerNick / EE_Parameter.GyroAccAbgleich; |
LageKorrekturNick = ausgleichNick / ABGLEICH_ANZAHL; |
// Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
IntegralFehlerRoll = (long)(MittelIntegralRoll - (long)IntegralAccRoll); |
ausgleichRoll = IntegralFehlerRoll / EE_Parameter.GyroAccAbgleich; |
LageKorrekturRoll = ausgleichRoll / ABGLEICH_ANZAHL; |
// Mess_IntegralNick -= ausgleichNick; |
// Mess_IntegralRoll -= ausgleichRoll; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gyro-Drift ermitteln |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
MittelIntegralNick2 /= ABGLEICH_ANZAHL; |
MittelIntegralRoll2 /= ABGLEICH_ANZAHL; |
// tmp_long = (long)(MittelIntegralNick2 - (long)IntegralAccNick); |
// tmp_long2 = (long)(MittelIntegralRoll2 - (long)IntegralAccRoll); |
tmp_long = IntegralNick2 - IntegralNick; |
tmp_long2 = IntegralRoll2 - IntegralRoll; |
//DebugOut.Analog[25] = MittelIntegralRoll2 / 26; |
IntegralFehlerNick = tmp_long; |
IntegralFehlerRoll = tmp_long2; |
Mess_IntegralNick2 -= IntegralFehlerNick; |
Mess_IntegralRoll2 -= IntegralFehlerRoll; |
// IntegralFehlerNick = (IntegralFehlerNick * 1 + tmp_long) / 2; |
// IntegralFehlerRoll = (IntegralFehlerRoll * 1 + tmp_long2) / 2; |
//Salvo Ersatzkompass Ueberlauf korrigieren |
if (GyroKomp_Int >= ((long)360 * GYROKOMP_INC_GRAD_DEFAULT)) GyroKomp_Int = GyroKomp_Int - (GYROKOMP_INC_GRAD_DEFAULT *(long)360); //neu ab 3.11.2007 |
if (GyroKomp_Int < 0) GyroKomp_Int = GyroKomp_Int + (GYROKOMP_INC_GRAD_DEFAULT *(long)360); //neu ab 3.11.2007 |
ROT_OFF; |
// Salvo End |
/*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; |
//Salvo 26.12.2007 |
w = (abs(Mittelwert_AccNick)); |
v = (abs(Mittelwert_AccRoll)); |
if ((w < ACC_WAAGRECHT_LIMIT) && (v < ACC_WAAGRECHT_LIMIT)) // Gyro nur in annaehend waagrechter Lage nachtrimmen |
{ |
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
if(IntegralFehlerNick > FEHLER_LIMIT) AdNeutralNick += cnt; |
if(IntegralFehlerNick < -FEHLER_LIMIT) AdNeutralNick -= cnt; |
} |
//Salvo End |
// 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; |
} |
//Salvo 26.12.2007 |
if ((w < ACC_WAAGRECHT_LIMIT*2) && (v < ACC_WAAGRECHT_LIMIT*2)) // Gyro nur inannaehernd waagrechter Lage nachtrimmen |
{ |
if(cnt > EE_Parameter.Driftkomp) cnt = EE_Parameter.Driftkomp; |
if(IntegralFehlerRoll > FEHLER_LIMIT) AdNeutralRoll += cnt; |
if(IntegralFehlerRoll < -FEHLER_LIMIT) AdNeutralRoll -= cnt; |
} |
//Salvo End |
//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; |
} // Ende Abgleich |
// Salvo Ersatzkompass und Giergyrokompensation 15.12.2007 ********************** |
if ((Kompass_Neuer_Wert > 0)) //nur wenn Kompass einen neuen Wert geliefert hat |
{ |
Kompass_Neuer_Wert = 0; |
w = (abs(Mittelwert_AccNick)); |
v = (abs(Mittelwert_AccRoll)); |
if ((w < ACC_WAAGRECHT_LIMIT) && (v < ACC_WAAGRECHT_LIMIT)) //Ersatzkompass und Giergyro nur mit Magnetkompass aktualisieren wenn alles ok |
{ |
if ((abs(KompassValue - Kompass_Value_Old)) <= 5) // Aufeinanderfolgende Werte duerfen nur minimal abweichen |
{ |
if ((abs(StickGier) < 20)) //Giergyroabgleich mit Kompass |
{ |
if (cnt_stickgier_zero < 255) cnt_stickgier_zero += 1; |
if (cnt_stickgier_zero > 2) // nur Abgleichen wenn keine Stickbewegung da |
{ |
w = (int) (GyroGier_Comp/(long)GYROKOMP_INC_GRAD_DEFAULT); |
v = KompassValue - gyrogier_kompass; // realen Drehwinkel seit letztem Ruecksetzen von GyroGier_Comp bestimmen |
if (v <-180) v +=360; // Uberlaufkorrektur |
if (v > 180) v -=360; // Uberlaufkorrektur |
v = w-v; //Differenz Gyro zu Kompass ist der Driftfehler |
#define GIER_COMP_MAX 8 |
if (v > GIER_COMP_MAX) v= GIER_COMP_MAX; |
if (v < -GIER_COMP_MAX) v= - GIER_COMP_MAX; |
if (abs(w) > 1) |
{ |
GyroGier_Comp = 0; |
gyrogier_kompass = KompassValue; // Kompasswert merken |
AdNeutralGier -= v; |
} |
} |
} |
else |
{ |
gyrogier_kompass = KompassValue; // Kompasswert merken |
cnt_stickgier_zero = 0; |
GyroGier_Comp = 0; |
} |
magkompass_ok = 1; // Flag dass Magnetkompass stabil arbeitet |
GyroKomp_Int = (GyroKomp_Int )/(long)GYROKOMP_INC_GRAD_DEFAULT; |
w = KompassValue - GyroKomp_Int; |
if ((w > 0) && (w < 180)) |
{ |
++GyroKomp_Int; |
} |
else if ((w > 0) && (w >= 180)) |
{ |
--GyroKomp_Int; |
} |
else if ((w < 0) && (w >= -180)) |
{ |
--GyroKomp_Int; |
} |
else if ((w < 0) && (w < -180)) |
{ |
++GyroKomp_Int; |
} |
if (GyroKomp_Int < 0) GyroKomp_Int = GyroKomp_Int + 360L; |
GyroKomp_Int = (GyroKomp_Int%360L) * (long)GYROKOMP_INC_GRAD_DEFAULT; // An Magnetkompasswert annaehern |
} |
} |
else //Kompassfehler |
{ |
magkompass_ok = 0; |
GyroGier_Comp = 0; |
} |
Kompass_Value_Old = KompassValue; |
} |
// Salvo End ************************* |
// Salvo 6.10.2007 |
// GPS Home aktivieren wenn Knueppel in Ruhelage und Hoehenschalter aktiviert ist |
//GPS Hold Aktiveren wenn Knueppel in Ruhelage sind |
if ((EE_Parameter.GlobalConfig & CFG_GPS_AKTIV) && (abs(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]) < GPS_STICK_HOLDOFF) |
&& (abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) < GPS_STICK_HOLDOFF) && (gps_alive_cnt > 0)) |
{ |
if (Parameter_MaxHoehe > 200) |
{ |
if ( gps_cmd == GPS_CMD_REQ_HOLD) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet |
else gps_cmd = GPS_CMD_REQ_HOME; |
n = GPS_CRTL(gps_cmd); |
} |
else |
{ |
if ( gps_cmd == GPS_CMD_REQ_HOME) gps_cmd = GPS_CMD_STOP; // erst mal stoppen, denn altes Kommando wurde noch nicht beendet |
else gps_cmd = GPS_CMD_REQ_HOLD; |
n= GPS_CRTL(gps_cmd); |
} |
} |
else |
{ |
if (gps_cmd != GPS_CMD_STOP) |
{ |
gps_cmd = GPS_CMD_STOP; |
n= GPS_CRTL(gps_cmd); //GPS Lageregelung beenden |
} |
} |
if (gps_state != GPS_CRTL_IDLE) if (TimerWerteausgabe == 12) LED_J16_OFF; //led im GPS Mode schnell blinken lassen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gieren |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(abs(StickGier) > 20) // war 35 |
{ |
if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
} |
tmp_int = (long) EE_Parameter.Gier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
tmp_int += (EE_Parameter.Gier_P * StickGier) / 4; |
sollGier = tmp_int; |
Mess_Integral_Gier -= tmp_int; |
if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Kompass |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) && (Kompass_present > 0)) |
{ |
if(v > w) w = v; // grösste Neigung ermitteln |
// Salvo 13.9.2007 Nur wenn Magnetkompass ordentliche Werte liefert |
if ((magkompass_ok > 0) && NeueKompassRichtungMerken) |
{ |
KompassStartwert = KompassValue; |
NeueKompassRichtungMerken = 0; |
} |
// Salvo 13.9.2007 |
w=0; |
// Salvo End |
w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
if(w > 0) |
{ |
// Salvo Kompasssteuerung ********************** |
if (magkompass_ok > 0) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
// Salvo End |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Debugwerte zuordnen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(!TimerWerteausgabe--) |
{ |
TimerWerteausgabe = 24; |
// Salvo 13.12.2007 Beleuchtung steuern |
if (!(beeptime & BeepMuster)) LED_J16_FLASH; |
else if (MotorenEin) LED_J16_ON; |
else LED_J16_OFF; |
// Salvo End |
DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
DebugOut.Analog[2] = Mittelwert_AccNick; |
DebugOut.Analog[3] = Mittelwert_AccRoll; |
DebugOut.Analog[4] = MesswertGier; |
DebugOut.Analog[5] = HoehenWert; |
DebugOut.Analog[6] =(Mess_Integral_Hoch / 512); |
DebugOut.Analog[8] = KompassValue; |
DebugOut.Analog[9] = GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
// Diverse parameter Debugging |
DebugOut.Analog[16] = dataset_cnt; |
DebugOut.Analog[17] = UBat; |
DebugOut.Analog[18] = MesswertNick; |
DebugOut.Analog[19] = MesswertRoll; |
DebugOut.Analog[20] = MesswertGier; |
DebugOut.Analog[21] = StickNick; |
DebugOut.Analog[22] = StickRoll; |
DebugOut.Analog[23] = StickGier; |
// GPS Debugging |
// DebugOut.Analog[10] = GPS_dist_2trgt/10; |
// DebugOut.Analog[11] = GPS_hdng_rel_2trgt; |
DebugOut.Analog[10] = Parameter_UserParam1; |
DebugOut.Analog[11] = Parameter_UserParam3; |
DebugOut.Analog[24] = GPS_Nick; |
DebugOut.Analog[25] = GPS_Roll; |
DebugOut.Analog[26] = gps_rel_act_position.utm_east; //in 10cm ausgeben |
DebugOut.Analog[27] = gps_rel_act_position.utm_north; |
DebugOut.Analog[28] = gps_rel_act_position.utm_alt; |
DebugOut.Analog[29] = gps_state + (gps_sub_state*10)+(50*gps_cmd); |
DebugOut.Analog[30] = debug_gp_0; |
DebugOut.Analog[31] = debug_gp_1; |
/* DebugOut.Analog[12] = debug_gp_2; |
DebugOut.Analog[13] = debug_gp_3; |
DebugOut.Analog[14] = debug_gp_4; |
DebugOut.Analog[15] = debug_gp_5; |
*/ |
// DebugOut.Analog[30] = dist_flown; |
// DebugOut.Analog[31] = (int) dist_2home; |
// DebugOut.Analog[31] = (int) GPS_hdng_abs_2trgt; |
// DebugOut.Analog[31] = (int) GyroGier_Comp; |
/* |
DebugOut.Analog[16] = motor_rx[0]; |
DebugOut.Analog[17] = motor_rx[1]; |
DebugOut.Analog[18] = motor_rx[2]; |
DebugOut.Analog[19] = motor_rx[3]; |
DebugOut.Analog[20] = motor_rx[0] + motor_rx[1] + motor_rx[2] + motor_rx[3]; |
DebugOut.Analog[20] /= 14; |
DebugOut.Analog[21] = motor_rx[4]; |
DebugOut.Analog[22] = motor_rx[5]; |
DebugOut.Analog[23] = motor_rx[6]; |
DebugOut.Analog[24] = motor_rx[7]; |
DebugOut.Analog[25] = motor_rx[4] + motor_rx[5] + motor_rx[6] + motor_rx[7]; |
*/ |
// DebugOut.Analog[9] = MesswertNick; |
// DebugOut.Analog[9] = SollHoehe; |
// DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
// DebugOut.Analog[11] = KompassStartwert; |
// DebugOut.Analog[10] = Parameter_Gyro_I; |
// DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
// DebugOut.Analog[9] = KompassRichtung; |
// DebugOut.Analog[10] = GasMischanteil; |
// DebugOut.Analog[3] = HoeheD * 32; |
// DebugOut.Analog[4] = hoehenregler; |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
if(Looping_Nick) MesswertNick = MesswertNick * GyroFaktor; |
else MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
if(Looping_Roll) MesswertRoll = MesswertRoll * GyroFaktor; |
else MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
// MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
MesswertGier = MesswertGier * (GyroFaktor) + Integral_Gier * IntegralFaktor/2; |
//DebugOut.Analog[28] = MesswertRoll; |
//DebugOut.Analog[25] = IntegralRoll * IntegralFaktor; |
//DebugOut.Analog[31] = StickRoll;// / (26*IntegralFaktor); |
// Maximalwerte abfangen |
#define MAX_SENSOR 2048 |
if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
if(MesswertRoll < -MAX_SENSOR) MesswertRoll = -MAX_SENSOR; |
if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Höhenregelung |
// Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//OCR0B = 180 - (Poti1 + 120) / 4; |
//DruckOffsetSetting = OCR0B; |
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
{ |
int tmp_int; |
if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
{ |
if(Parameter_MaxHoehe < 50) |
{ |
SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
HoehenReglerAktiv = 0; |
} |
else |
HoehenReglerAktiv = 1; |
} |
else |
{ |
SollHoehe = ((int) ExternHoehenValue + (int) Parameter_MaxHoehe) * (int)EE_Parameter.Hoehe_Verstaerkung - 20; |
HoehenReglerAktiv = 1; |
} |
if(Notlandung) SollHoehe = 0; |
h = HoehenWert; |
if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
{ h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
h = GasMischanteil - h; // vom Gas abziehen |
h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
if(tmp_int > 50) tmp_int = 50; |
else if(tmp_int < -50) tmp_int = -50; |
h -= tmp_int; |
hoehenregler = (hoehenregler*15 + h) / 16; |
if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
{ |
if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
} |
if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
GasMischanteil = hoehenregler; |
} |
} |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Mischer und PI-Regler |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DebugOut.Analog[7] = GasMischanteil; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Gier-Anteil |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define MUL_G 1.0 |
GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
//GierMischanteil = 0; |
if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
if(GierMischanteil > ((MAX_GAS - GasMischanteil))) GierMischanteil = ((MAX_GAS - GasMischanteil)); |
if(GierMischanteil < -((MAX_GAS - GasMischanteil))) GierMischanteil = -((MAX_GAS - GasMischanteil)); |
if(GasMischanteil < 20) GierMischanteil = 0; |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Nick-Achse |
// +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
DiffNick = MesswertNick - (StickNick - GPS_Nick); // Differenz bestimmen |
if(IntegralFaktor) SummeNick += IntegralNick * IntegralFaktor - (StickNick - GPS_Nick); // I-Anteil bei Winkelregelung |
else SummeNick += DiffNick; // I-Anteil bei HH |
if(SummeNick > 0) SummeNick-= 2 ; else SummeNick += 2 ; |
if(SummeNick > 16000) SummeNick = 16000; |
if(SummeNick < -16000) SummeNick = -16000; |
pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
// Motor Vorn |
tmp_int = (long)((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/salvo_gps/Basis_v0067g/tags/v0007/fc.h |
---|
0,0 → 1,169 |
/*####################################################################################### |
Flight Control |
#######################################################################################*/ |
#ifndef _FC_H |
#define _FC_H |
extern volatile unsigned int I2CTimeout; |
//Salvo 9.12.2007 Neutralwerte fuer ACC Sensor nur verwendet wenn ACC_FIXED >0 |
#define ACC_FIXED 0 // wenn > 0werden diese Werte beim ACC Kalbibrieren ins Eeprom geschrieben |
#define ACC_NICK_NEUTRAL 518 // ADC Wandler Wert in Neutrallage (0g): Vom individuellen Sensor abhaengig |
#define ACC_ROLL_NEUTRAL 516 // ADC Wandler wert in Neutrallage (0g) |
#define ACC_Z_NEUTRAL 740 // ADC Wandler wert in Neutrallage (0g) |
#define ACC_WAAGRECHT_LIMIT 100 // Nick und Roll kleiner als dieser Wert gelten als Kriterium fuer waagrechte Lage |
#define CAM_GPS_QUIET 0 // wenn dieses Flag gesetzt ist, wird GPS beim Ausloesen kurzzeitig deaktiviert um eine ruhige Lage zu bekommen |
//Salvo 2.9.2007 Ersatzkompass: Gyroincrements/Grad als Defaultwert ***** |
// Laut Datenblatt sind di; Werte ueber Zeit und Temperatur sehr stabil. |
#define GYROKOMP_INC_GRAD_DEFAULT 1300 // Gyroincrements/Grad als Defaultwert |
// Salvo End |
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; |
//Salvo 2.1.2008 Debugvariablens |
extern int debug_gp_0,debug_gp_1,debug_gp_2,debug_gp_3,debug_gp_4,debug_gp_5,debug_gp_6,debug_gp_7; //Allgemeine Debugvariablen |
//Salvo End |
//Salvo 2.9.2007 Ersatzkompass |
extern long GyroKomp_Int; |
extern long int GyroGier_Comp; |
extern int GyroKomp_Inc_Grad; |
extern int GyroKomp_Value; // Der ermittelte Kompasswert aus Gyro und Magnetkompass |
// Salvo End |
void MotorRegler(void); |
void SendMotorData(void); |
void CalibrierMittelwert(void); |
void Mittelwert(void); |
void SetNeutral(void); |
void Piep(unsigned char Anzahl); |
extern void DefaultKonstanten(void); |
void DefaultKonstanten1(void); |
void DefaultKonstanten2(void); |
extern unsigned char h,m,s; |
extern volatile unsigned char Timeout ; |
extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
extern volatile long IntegralNick,IntegralNick2; |
extern volatile long IntegralRoll,IntegralRoll2; |
extern volatile long Integral_Gier; |
extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
extern volatile long Mess_Integral_Gier; |
extern volatile int DiffNick,DiffRoll; |
extern int Poti1, Poti2, Poti3, Poti4; |
extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
extern unsigned char MotorWert[5]; |
extern volatile unsigned char SenderOkay; |
extern int StickNick,StickRoll,StickGier; |
extern char MotorenEin; |
extern void DefaultKonstanten1(void); |
extern void DefaultKonstanten2(void); |
#define STRUCT_PARAM_LAENGE 71 |
struct mk_param_struct |
{ |
unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
unsigned char Hoehe_MinGas; // Wert : 0-100 |
unsigned char Luftdruck_D; // Wert : 0-250 |
unsigned char MaxHoehe; // Wert : 0-32 |
unsigned char Hoehe_P; // Wert : 0-32 |
unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
unsigned char Stick_P; // Wert : 1-6 |
unsigned char Stick_D; // Wert : 0-64 |
unsigned char Gier_P; // Wert : 1-20 |
unsigned char Gas_Min; // Wert : 0-32 |
unsigned char Gas_Max; // Wert : 33-250 |
unsigned char GyroAccFaktor; // Wert : 1-64 |
unsigned char KompassWirkung; // Wert : 0-32 |
unsigned char Gyro_P; // Wert : 10-250 |
unsigned char Gyro_I; // Wert : 0-250 |
unsigned char UnterspannungsWarnung; // Wert : 0-250 |
unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
unsigned char UfoAusrichtung; // X oder + Formation |
unsigned char I_Faktor; // Wert : 0-250 |
unsigned char UserParam1; // Wert : 0-250 |
unsigned char UserParam2; // Wert : 0-250 |
unsigned char UserParam3; // Wert : 0-250 |
unsigned char UserParam4; // Wert : 0-250 |
unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
unsigned char ServoNickRefresh; // |
unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
unsigned char LoopHysterese; // Wert: 0-250 Hysterese für Stickausschlag |
unsigned char AchsKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick koppelt (NickRollMitkopplung) |
unsigned char AchsGegenKopplung1; // Wert: 0-250 Faktor, mit dem Gier die Achsen Roll und Nick Gegenkoppelt (NickRollGegenkopplung) |
unsigned char WinkelUmschlagNick; // Wert: 0-250 180°-Punkt |
unsigned char WinkelUmschlagRoll; // Wert: 0-250 180°-Punkt |
unsigned char GyroAccAbgleich; // 1/k (Koppel_ACC_Wirkung) |
unsigned char Driftkomp; |
unsigned char DynamicStability; |
unsigned char UserParam5; // Wert : 0-250 |
unsigned char UserParam6; // Wert : 0-250 |
unsigned char UserParam7; // Wert : 0-250 |
unsigned char UserParam8; // Wert : 0-250 |
//------------------------------------------------ |
unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
unsigned char Reserved[4]; |
char Name[12]; |
}; |
/* |
unsigned char ServoNickMax; // Wert : 0-250 |
unsigned char ServoNickRefresh; // |
unsigned char LoopGasLimit; // Wert: 0-250 max. Gas während Looping |
unsigned char LoopThreshold; // Wert: 0-250 Schwelle für Stickausschlag |
//------------------------------------------------ |
unsigned char LoopConfig; // Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
unsigned char ServoNickCompInvert; // Wert : 0-250 0 oder 1 // WICHTIG!!! am Ende lassen |
unsigned char Reserved[4]; |
char Name[12]; |
*/ |
extern struct mk_param_struct EE_Parameter; |
extern unsigned char Parameter_Luftdruck_D; |
extern unsigned char Parameter_MaxHoehe; |
extern unsigned char Parameter_Hoehe_P; |
extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
extern unsigned char Parameter_KompassWirkung; |
extern unsigned char Parameter_Gyro_P; |
extern unsigned char Parameter_Gyro_I; |
extern unsigned char Parameter_Gier_P; |
extern unsigned char Parameter_ServoNickControl; |
extern unsigned char Parameter_AchsKopplung1; |
extern unsigned char Parameter_AchsGegenKopplung1; |
#endif //_FC_H |
/branches/salvo_gps/Basis_v0067g/tags/v0007/flightctrl.aws |
---|
0,0 → 1,0 |
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/branches/salvo_gps/Basis_v0067g/tags/v0007/gps.h |
---|
0,0 → 1,131 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Peter Muehlenbrock alias Salvo |
// Definitionen fuer Modul GPS |
// Stand 20.1.2008 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
extern signed int GPS_Nick; |
extern signed int GPS_Roll; |
extern void GPS_Neutral(void); |
extern void Get_Ublox_Msg(uint8_t rx) ; |
extern short int Get_GPS_data(void); |
extern short int Get_Rel_Position(void); |
extern void GPS_Save_Home(void); |
extern short int GPS_CRTL(short int cmd); |
typedef struct { |
unsigned long utm_itow; // time of week |
long utm_east; // UTM Ost in cm |
long utm_north; // UTM Nord in cm |
long utm_alt; // hoehe in cm |
uint8_t utm_zone; // |
uint8_t utm_hem; // Hemisphere Indicator |
uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
} NAV_POSUTM_t; |
typedef struct { |
unsigned long itow; // time of week |
uint8_t gpsfix_type;// 3=3D Fix |
uint8_t nav_status_flag; |
uint8_t nav_diff_status; |
uint8_t nav_resevd; |
long nav_tff; // Time to First Fix in ms |
long nav_msss; // ms since startup |
uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
} NAV_STATUS_t; |
typedef struct { |
unsigned long itow; |
long speed_n; // in cm/s |
long speed_e; // in cm/s |
long speed_alt; // in cm/s |
unsigned long speed_3d; // in cm/s |
unsigned long speed_gnd; // V ueber Grund in cm/s |
long heading; // Richtung in deg/10000 |
unsigned long sacc; // Speed Genauigkeit in cm/s |
unsigned long cacc; // Richtungsgenauigkeit in deg |
uint8_t status; // 0: kein gueltiges Paket 1: alles ok |
} NAV_VELNED_t; |
typedef struct { |
long utm_east; // UTM Ost in 10 cm |
long utm_north; // UTM Nord in 10 cm |
long utm_alt; // hoehe in 10 cm |
unsigned long speed_gnd; // V ueber Grund in 10cm/s |
unsigned heading; // Richtung in Grad |
uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
} GPS_ABS_POSITION_t; |
typedef struct { // Struktur fuer Relative GPS Daten (bezogen z.B. auf Home Position) |
int utm_east; // UTM Ost in 10 cm |
int utm_north; // UTM Nord in 10 cm |
int utm_alt ; // UTM Altitude in 10 cm |
uint8_t status; // 0: keine gueltigen Daten 1: alles ok |
} GPS_REL_POSITION_t; |
extern GPS_ABS_POSITION_t gps_act_position; |
extern GPS_ABS_POSITION_t gps_home_position; |
extern GPS_REL_POSITION_t gps_rel_act_position; |
extern GPS_REL_POSITION_t gps_rel_hold_position; |
extern short int gps_state,gps_sub_state; |
extern unsigned int gps_alive_cnt; |
// Zustaende der zentralen GPS statemachine |
#define GPS_CRTL_IDLE 0 // Inaktiv |
#define GPS_CRTL_HOLD_ACTIVE 1 // Lageregelung aktiv |
#define GPS_CRTL_HOME_ACTIVE 2 // Rueckflug zur Basis Aktiv |
#define GPS_HOME_FAST_IN_TOL 3 // Rueckflug: Aktuelle Position innerhalb der Toleranz |
#define GPS_HOME_FAST_OUTOF_TOL 4 // Rueckflug: Aktuelle Position ausserhalb der Toleranz |
#define GPS_HOME_RMPDWN_IN_TOL 5 // Rueckflug: beim Abbremsen Position innerhalb der Toleranz |
#define GPS_HOME_RMPDWN_OUTOF_TOL 6 // Rueckflug: beim Abbremsen Position ausserhalb der Toleranz |
#define GPS_HOME_IN_TOL 7 // Rueckflug: Nahe am Ziel innerhalb der Toleranz |
#define GPS_HOME_OUTOF_TOL 8 // Rueckflug: Nahe am Ziel ausserhalb der Toleranz |
#define GPS_HOME_FINISHED 9 // Rueckflug zur Basis abgeschlossen |
// Kommandokonstanten fuer die zentrale GPS Statemachine |
#define GPS_CMD_STOP 0 // Lageregelung soll deaktiviert werden |
#define GPS_CMD_REQ_INIT 1 // Initialisierung |
#define GPS_CMD_REQ_HOLD 3 // Lageregelung soll aktiviert werden |
#define GPS_CMD_REQ_HOME 4 // Das Heimfliegen soll aktiviert werden |
// Statusmeldungen der zentralen GPS statemachine |
#define GPS_STST_OK 0 // Kommando erfolgreich und abgeschlossen |
#define GPS_STST_PEND 1 // Kommando noch nicht komplett durchgefuehrt |
#define GPS_STST_ERR 2 // Fehler |
// GPS Lageregler |
#define GPS_USR_PAR_FKT 4 //Faktor durch den die Userparameter geteilt werden |
#define GPS_NICKROLL_MAX 30 // Maximaler Einfluss des GPS Lagereglers auf Nick und Roll |
#define GPS_DIST_MAX 400 // Maximal zulaessige Distanz bevor Regelung gestoppt wird (in 10cm) |
#define GPS_STICK_HOLDOFF 20 // Wenn der Nick oder Roll Stickwerte groesser sind, wird GPS_HOLD deaktiviert |
#define GPS_V 8 // Teilerfaktor Regelabweichung zu Ausgabewert |
// Konstanten fuer Verstaerkung fuer Speed Werte in Abhaengigkeit vom SpeedWert (cm/sek) |
// um eine exponentielle Verstaerkung zu erreichen |
#define DIFF_Y_N_MAX 1 // Verstaerkung bei Eingangswert = DIFF_X_N_MAX im Normal (Hold) Mode |
//#define DIFF_X_N_MAX 200 // bei diesem Eingangswert ist die Verstaerkung = DIFF_Y_N_MAX |
#define DIFF_Y_F_MAX 1 // Verstaerkung bei Eingangswert = DIFF_X_F_MAX im Fast (Coming Home) Mode |
//#define DIFF_X_F_MAX 500 // bei diesem Eingangswert ist die Verstaerkung = DIFF_Y_F_MAX |
// P-Regler Verstaerkung |
#define GPS_PROP_NRML_V 2 //maximale Verstaerkung im Normalen Holdmode |
#define GPS_PROP_FAST_V 3 //maximale Verstaerkung im Fast mode |
// GPS G2T /Go to Target Regler |
#define GPS_G2T_DIST_MAX_STOP 100 // Ab dieser Entfernung vom Zielpunkt soll die Geschwindigkeit runtergeregelt werden( in 10 cm) |
#define GPS_G2T_DIST_HOLD 50 // Ab dieser Entfernung vom Zielpunkt wird mit Minimaler Geschwindigkeit eingeregelt |
#define GPS_G2T_FAST_TOL 200 // Bei grosser Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht |
#define GPS_G2T_NRML_TOL 100 // Bei kleiner Entfernung vom Ziel: Der Sollwert wird nur geaendert wenn die aktuelle Position nicht mehr als diesem Wert vom Sollwert abweicht |
#define GPS_G2T_V_MAX 15 // Maximale Geschwindigkeit (in 10cm/0.25 Sekunden) mit der der Sollpunkt geaendert wird. |
#define GPS_G2T_V_RAMP_DWN 8 // Geschwindigkeit (in 10cm/0.25ekunden) in der Naehe der Home Position um abzubremsen |
#define GPS_G2T_V_MIN 3 // Minimale (in 10cm/0.25 Sekunden) ganz nahe an Homeposition. |
/branches/salvo_gps/Basis_v0067g/tags/v0007/main.c |
---|
0,0 → 1,251 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + Nur für den privaten Gebrauch |
// + www.MikroKopter.com |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
// + dass eine Nutzung (auch auszugsweise) nur für den privaten und nicht-kommerziellen Gebrauch zulässig ist. |
// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
// + bzgl. der Nutzungsbedingungen aufzunehmen. |
// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
// + Verkauf von Luftbildaufnahmen, usw. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
// + auf anderen Webseiten oder Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
// + eindeutig als Ursprung verlinkt und genannt werden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
// + Benutzung auf eigene Gefahr |
// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
// + mit unserer Zustimmung zulässig |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
// + this list of conditions and the following disclaimer. |
// + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
// + from this software without specific prior written permission. |
// + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
// + for non-commercial use (directly or indirectly) |
// + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
// + with our written permission |
// + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
// + clearly linked as origin |
// + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
// + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
// + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
// + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
// + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
// + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
// + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
// + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
// + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
// + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
// + POSSIBILITY OF SUCH DAMAGE. |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
unsigned char EEPromArray[E2END+1] EEMEM; |
unsigned char PlatinenVersion = 10; |
// -- Parametersatz aus EEPROM lesen --- |
// number [0..5] |
void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
{ |
if (number > 5) number = 5; |
eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
} |
// -- Parametersatz ins EEPROM schreiben --- |
// number [0..5] |
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
{ |
if(number > 5) number = 5; |
eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
} |
unsigned char GetActiveParamSetNumber(void) |
{ |
unsigned char set; |
set = eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET]); |
if(set > 5) |
{ |
set = 2; |
eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], set); // diesen Parametersatz als aktuell merken |
} |
return(set); |
} |
//############################################################################ |
//Hauptprogramm |
int main (void) |
//############################################################################ |
{ |
unsigned int timer; |
//unsigned int timer2 = 0; |
DDRB = 0x00; |
PORTB = 0x00; |
for(timer = 0; timer < 1000; timer++); // verzögern |
if(PINB & 0x01) PlatinenVersion = 11; else PlatinenVersion = 10; |
// Salvo 9.12.2007 PC6 als Ausgang |
// DDRC = 0x81; // SCL |
DDRC = 0xCD; // SCL und PC2,PC3, PC6 als Ausgang |
PORTC = 0xff; // Pullup SDA |
DDRB = 0x1B; // LEDs und Druckoffset |
PORTB = 0x01; // LED_Rot |
DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
DDRD |=0x80; // J7 |
PORTD = 0xF7; // LED |
MCUSR &=~(1<<WDRF); |
WDTCSR |= (1<<WDCE)|(1<<WDE); |
WDTCSR = 0; |
beeptime = 2000; |
StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
ROT_OFF; |
Timer_Init(); |
UART_Init(); |
rc_sum_init(); |
ADC_Init(); |
i2c_init(); |
// 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()); |
if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
{ |
printf("\n\rAbgleich Luftdrucksensor.."); |
timer = SetDelay(1000); |
SucheLuftruckOffset(); |
while (!CheckDelay(timer)); |
printf("OK\n\r"); |
} |
SetNeutral(); |
ROT_OFF; |
// Salvo 9.12.2007 Defaultwert fuer Umschaltsignal fuer RX: Bluettooth Modul aktiv |
RX_SWTCH_OFF; |
// Salvo End |
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/salvo_gps/Basis_v0067g/tags/v0007/main.h |
---|
0,0 → 1,112 |
#ifndef _MAIN_H |
#define _MAIN_H |
//Hier die Quarz Frequenz einstellen |
#if defined (__AVR_ATmega32__) |
#define SYSCLK 20000000L //Quarz Frequenz in Hz |
#endif |
#if defined (__AVR_ATmega644__) |
#define SYSCLK 20000000L //Quarz Frequenz in Hz |
//#define SYSCLK 16000000L //Quarz Frequenz in Hz |
#endif |
// neue Hardware |
#define ROT_OFF {if(PlatinenVersion == 10) PORTB &=~0x01; else PORTB |= 0x01;} |
#define ROT_ON {if(PlatinenVersion == 10) PORTB |= 0x01; else PORTB &=~0x01;} |
#define ROT_FLASH PORTB ^= 0x01 |
#define GRN_OFF PORTB &=~0x02 |
#define GRN_ON PORTB |= 0x02 |
#define GRN_FLASH PORTB ^= 0x02 |
//Salvo 9.12.2007 Umschaltsignal fuer Bluetooth bzw. GPS Daten auf PC7 |
#define RX_SWTCH_ON PORTC |= 0x40 |
#define RX_SWTCH_OFF PORTC &= ~0x40 |
#define LED_J16_ON PORTC |= 0x04 |
#define LED_J16_OFF PORTC &= ~0x04 |
#define LED_J16_FLASH PORTC ^= 0x04 |
//Salvo End |
#define F_CPU SYSCLK |
//#ifndef F_CPU |
//#error ################## F_CPU nicht definiert oder ungültig ############# |
//#endif |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define EEPROM_ADR_VALID 1 |
#define EEPROM_ADR_ACTIVE_SET 2 |
#define EEPROM_ADR_LAST_OFFSET 3 |
#define EEPROM_ADR_ACC_NICK 4 |
#define EEPROM_ADR_ACC_ROLL 6 |
#define EEPROM_ADR_ACC_Z 8 |
#define EEPROM_ADR_PARAM_BEGIN 100 |
#define CFG_HOEHENREGELUNG 0x01 |
#define CFG_HOEHEN_SCHALTER 0x02 |
#define CFG_HEADING_HOLD 0x04 |
#define CFG_KOMPASS_AKTIV 0x08 |
#define CFG_KOMPASS_FIX 0x10 |
#define CFG_GPS_AKTIV 0x20 |
#define CFG_ACHSENKOPPLUNG_AKTIV 0x40 |
#define CFG_DREHRATEN_BEGRENZER 0x80 |
#define CFG_LOOP_OBEN 0x01 |
#define CFG_LOOP_UNTEN 0x02 |
#define CFG_LOOP_LINKS 0x04 |
#define CFG_LOOP_RECHTS 0x08 |
//#define SYSCLK |
//extern unsigned long SYSCLK; |
extern volatile int i_Nick[20],i_Roll[20],DiffNick,DiffRoll; |
extern volatile unsigned char SenderOkay; |
extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
extern unsigned char PlatinenVersion; |
void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length); |
extern unsigned char GetActiveParamSetNumber(void); |
extern unsigned char EEPromArray[]; |
#include <stdlib.h> |
#include <string.h> |
#include <avr/io.h> |
#include <avr/pgmspace.h> |
#include <avr/interrupt.h> |
#include <avr/eeprom.h> |
#include <avr/boot.h> |
#include <avr/wdt.h> |
#include "old_macros.h" |
#include "_Settings.h" |
#include "printf_P.h" |
#include "timer0.h" |
#include "uart.h" |
#include "analog.h" |
#include "twimaster.h" |
#include "menu.h" |
#include "rc.h" |
#include "fc.h" |
#include "gps.h" |
#include "spi.h" |
#ifndef EEMEM |
#define EEMEM __attribute__ ((section (".eeprom"))) |
#endif |
#define DEBUG_DISPLAY_INTERVALL 123 // in ms |
#define DELAY_US(x) ((unsigned int)( (x) * 1e-6 * F_CPU )) |
#endif //_MAIN_H |
/branches/salvo_gps/Basis_v0067g/tags/v0007/makefile |
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0,0 → 1,411 |
#-------------------------------------------------------------------- |
# MCU name |
MCU = atmega644 |
F_CPU = 20000000 |
#------------------------------------------------------------------- |
HAUPT_VERSION = 0 |
NEBEN_VERSION = 07 |
VERSION_INDEX = 0 |
VERSION_KOMPATIBEL = 7 # PC-Kompatibilität |
#------------------------------------------------------------------- |
ifeq ($(MCU), atmega32) |
# FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
HEX_NAME = MEGA32 |
endif |
ifeq ($(MCU), atmega644) |
FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
#FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
# -u bei neuen Controllern wieder einspielen |
HEX_NAME = MEGA644 |
endif |
ifeq ($(F_CPU), 16000000) |
QUARZ = 16MHZ |
endif |
ifeq ($(F_CPU), 20000000) |
QUARZ = 20MHZ |
endif |
# Output format. (can be srec, ihex, binary) |
FORMAT = ihex |
# Target file name (without extension). |
ifeq ($(VERSION_INDEX), 0) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)a |
endif |
ifeq ($(VERSION_INDEX), 1) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)b |
endif |
ifeq ($(VERSION_INDEX), 2) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)c |
endif |
ifeq ($(VERSION_INDEX), 3) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)d |
endif |
ifeq ($(VERSION_INDEX), 4) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)e |
endif |
ifeq ($(VERSION_INDEX), 5) |
TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION)f |
endif |
# Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
# (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
OPT = s |
########################################################################################################## |
# List C source files here. (C dependencies are automatically generated.) |
SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
SRC += twimaster.c rc.c fc.c GPS.c math.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/salvo_gps/Basis_v0067g/tags/v0007/math.c |
---|
0,0 → 1,127 |
/* |
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 General Public License and GNU Lesser General Public License for more details. |
You should have received a copy of GNU General Public License (License_GPL.txt) and |
GNU Lesser General Public License (License_LGPL.txt) 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 |
*/ |
/*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
Peter Muehlenbrock |
Winkelfunktionen sin, cos und arctan in |
brute-force Art: Sehr Schnell, nicht sonderlich genau, aber ausreichend |
get_dist Funktion fuer Entfernungsermittlung |
Stand 12.10.2007 |
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
*/ |
#include "main.h" |
#include "math.h" |
// arctan Funktion: Eingabewert x,y Rueckgabe =arctan(x,y) in grad |
int arctan_i( signed int x, signed int y) |
{ |
short int change_xy = 0; |
signed int i; |
long signed int wert; |
int return_value; |
if ((abs(x)) > (abs(y))) // x,y Werte vertauschen damit arctan <45 grad bleibt |
{ |
change_xy = 1; |
i = x; |
x = y; |
y = i; |
} |
// Quadranten ermitteln |
// Wert durch lineare Interpolation ermitteln |
if ((y == 0) && (x == 0)) wert =1; // Division durch 0 nicht erlaubt |
else wert= abs(((long)x*1000)/((long)y)); |
if (wert <=268) //0...0.0,268 entsprechend 0..15 Grad |
{ |
return_value = (signed int)((wert*100)/(268-0)*(15-0)/100) +0; |
} |
else if (wert <=578) //0,268...0.0,568 entsprechend 15..30 Grad |
{ |
return_value = (signed int)((((wert-268)*100)/(578-268)*(30-15))/100) +15; |
} |
else //0,568...1 entsprechend 30..45 Grad |
{ |
return_value = (signed int)((((wert-578)*50)/(1000-578)*(45-30))/50) +30; |
} |
if (change_xy == 0) return_value = 90-return_value; //Quadrant 45..90 Grad |
if ((x >= 0) && (y <0)) return_value = - return_value; |
else if ((x < 0) && (y >= 0)) return_value = - return_value; |
return return_value; |
} |
// cosinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =cos(winkel)*1000 |
signed int cos_i(signed int winkel) |
{ |
winkel = sin_i(90-winkel); |
return winkel; |
} |
const unsigned int pgm_sinus[91] PROGMEM = {0,17,35,52,70,87,105,122,139,156,174,191,208,225,242,259,276,292,309,326,342,358,375,391,407,423,438,454,469,485,500,515,530,545,559,574,588,602,616,629,643,656,669,682,695,707,719,731,743,755,766,777,788,799,809,819,829,839,848,857,866,875,883,891,899,906,914,921,927,934,940,946,951,956,961,966,970,974,978,982,985,988,990,993,995,996,998,999,999,1000,1000}; |
//von Nick666, Stand 28.9.2007 |
// sinus Funktion: Eingabewert Winkel in Grad, Rueckgabe =sin(winkel)*1000 |
signed int sin_i(signed int winkel) |
{ |
short int m,n; |
if (abs(winkel) >=360) winkel = winkel % 360; |
if (winkel < 0) |
{ |
m = -1; |
winkel = abs(winkel); |
} |
else m = +1; |
n =1; |
// Quadranten auswerten |
if ((winkel > 90 ) && (winkel <= 180)) winkel = 180 - winkel; |
else if ((winkel > 180 ) && (winkel <= 270)) |
{ |
winkel = winkel -180; |
n = -1; |
} |
else if ((winkel > 270) && (winkel <= 360)) |
{ |
winkel = 360 - winkel; |
n = -1; |
} |
// else //0 - 90 Grad |
winkel = pgm_read_word(&pgm_sinus[winkel]); |
return (winkel*m*n); |
} |
// Aus x,y und Winkel Distanz ermitteln |
long get_dist(signed int x, signed int y, signed int phi) |
{ |
long dist; |
if (abs(x) > abs(y) ) |
{ |
dist = (long) x; //Groesseren Wert wegen besserer Genauigkeit nehmen |
dist = abs((dist *1000) / (long) sin_i(phi)); |
} |
else |
{ |
dist = (long) y; |
dist = abs((dist *1000) / (long) cos_i(phi)); |
} |
return dist; |
} |
/branches/salvo_gps/Basis_v0067g/tags/v0007/math.h |
---|
0,0 → 1,11 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Peter Muehlenbrock |
// Definitionen fuer Modul math |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "main.h" |
extern signed int sin_i(signed int winkel); |
extern signed int cos_i(signed int winkel); |
extern signed int arctan_i(signed int x, signed int y); |
extern long get_dist(signed int x, signed int y, signed int phi); |
/branches/salvo_gps/Basis_v0067g/tags/v0007/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,"Poti1: %3i",Poti1); |
LCD_printfxy(0,1,"Poti2: %3i",Poti2); |
LCD_printfxy(0,2,"Poti3: %3i",Poti3); |
LCD_printfxy(0,3,"Poti4: %3i",Poti4); |
break; |
case 10: |
LCD_printfxy(0,0,"Servo " ); |
LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
break; |
default: MaxMenue = MenuePunkt - 1; |
MenuePunkt = 0; |
break; |
} |
RemoteTasten = 0; |
} |
/branches/salvo_gps/Basis_v0067g/tags/v0007/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/salvo_gps/Basis_v0067g/tags/v0007/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/salvo_gps/Basis_v0067g/tags/v0007/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/salvo_gps/Basis_v0067g/tags/v0007/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/salvo_gps/Basis_v0067g/tags/v0007/rc.c |
---|
0,0 → 1,84 |
/*####################################################################################### |
Decodieren eines RC Summen Signals |
#######################################################################################*/ |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) 04.2007 Holger Buss |
// + only for non-profit use |
// + www.MikroKopter.com |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#include "rc.h" |
#include "main.h" |
volatile int PPM_in[11]; |
volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
volatile unsigned char NewPpmData = 1; |
//############################################################################ |
//zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
//Capture Funktion benutzt: |
void rc_sum_init (void) |
//############################################################################ |
{ |
TCCR1B=(1<<CS11)|(1<<CS10)|(1<<ICES1)|(1<<ICNC1);//|(1 << WGM12); //timer1 prescale 64 |
// PWM |
//TCCR1A = (1 << COM1B1) | (1 << WGM11) | (1 << WGM10); |
//TCCR1B |= (1 << WGM12); |
//OCR1B = 55; |
TIMSK1 |= _BV(ICIE1); |
AdNeutralGier = 0; |
AdNeutralRoll = 0; |
AdNeutralNick = 0; |
return; |
} |
//############################################################################ |
//Diese Routine startet und initialisiert den Timer für RC |
SIGNAL(SIG_INPUT_CAPTURE1) |
//############################################################################ |
{ |
static unsigned int AltICR=0; |
signed int signal = 0,tmp; |
static int index; |
signal = (unsigned int) ICR1 - AltICR; |
AltICR = ICR1; |
//Syncronisationspause? |
// if((signal > (int) Parameter_UserParam2 * 10) && (signal < 8000)) |
if((signal > 1100) && (signal < 8000)) |
{ |
if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
index = 1; |
} |
else |
{ |
if(index < 10) |
{ |
if((signal > 250) && (signal < 687)) |
{ |
signal -= 466; |
// Stabiles Signal |
if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10;} |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
// if(tmp > signal+1) tmp--; else |
// if(tmp < signal-1) tmp++; |
PPM_diff[index] = tmp - PPM_in[index]; |
PPM_in[index] = tmp; |
} |
index++; |
if(index == 5) PORTD |= 0x20; else PORTD &= ~0x20; // Servosignal an J3 anlegen |
if(index == 6) PORTD |= 0x10; else PORTD &= ~0x10; // Servosignal an J4 anlegen |
if(index == 7) PORTD |= 0x08; else PORTD &= ~0x08; // Servosignal an J5 anlegen |
} |
} |
} |
/branches/salvo_gps/Basis_v0067g/tags/v0007/rc.h |
---|
0,0 → 1,29 |
/*####################################################################################### |
Derkodieren eines RC Summen Signals |
#######################################################################################*/ |
#ifndef _RC_H |
#define _RC_H |
#if defined (__AVR_ATmega32__) |
#define TIMER_TEILER CK64 |
#define TIMER_RELOAD_VALUE 250 |
#endif |
#if defined (__AVR_ATmega644__) |
//#define TIMER_TEILER CK64 |
#define TIMER_RELOAD_VALUE 250 |
//#define TIMER_TEILER CK256 // bei 20MHz |
//#define TIMER_RELOAD_VALUE -78 // bei 20MHz |
#endif |
#define GAS PPM_in[2] |
extern void rc_sum_init (void); |
extern volatile int PPM_in[11]; |
extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
extern volatile unsigned char NewPpmData; |
#endif //_RC_H |
/branches/salvo_gps/Basis_v0067g/tags/v0007/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/salvo_gps/Basis_v0067g/tags/v0007/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/salvo_gps/Basis_v0067g/tags/v0007/timer0.c |
---|
0,0 → 1,192 |
#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; |
//Salvo 8.9.2007 |
volatile uint8_t Kompass_Neuer_Wert= 0; |
volatile unsigned int Kompass_Value_Old = 0; |
// Salvo End |
//Salvo 21.9.2007 |
short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist |
// Salvo End |
enum { |
STOP = 0, |
CK = 1, |
CK8 = 2, |
CK64 = 3, |
CK256 = 4, |
CK1024 = 5, |
T0_FALLING_EDGE = 6, |
T0_RISING_EDGE = 7 |
}; |
// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 24.12.2007 |
/* |
Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion |
*/ |
SIGNAL (SIG_OVERFLOW0) // 8kHz |
{ |
static unsigned char cnt_1ms = 1,cnt = 0; |
unsigned char pieper_ein = 0; |
// TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
if(!cnt--) |
{ |
if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden |
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); |
} |
// if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
{ |
if(PINC & 0x10) |
{ |
cntKompass++; |
} |
else |
{ |
if((cntKompass) && (cntKompass < 4000)) |
{ |
// Salvo Kompassoffset 23.12.2007 *********** |
Kompass_present = 255; |
// Kompass_Value_Old = KompassValue; |
if (KOMPASS_OFFSET > 0) KompassValue = cntKompass -KOMPASS_OFFSET; |
else KompassValue = cntKompass - ((int) (Parameter_UserParam4*2)); |
if (KompassValue < 0) |
{ |
KompassValue += 360; |
} |
if (KompassValue >= 360) |
{ |
KompassValue -= 360; |
} |
// Salvo End |
} |
// if(cntKompass < 10) cntKompass = 10; |
// KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
//Salvo 13.9.2007 Ok Erkennung des Magnetkompasses |
Kompass_Neuer_Wert = 1; |
// Salvo End |
cntKompass = 0; |
} |
} |
} |
void Timer_Init(void) |
{ |
tim_main = SetDelay(10); |
TCCR0B = CK8; |
TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
OCR0A = 0; |
OCR0B = 120; |
TCNT0 = (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/salvo_gps/Basis_v0067g/tags/v0007/timer0.h |
---|
0,0 → 1,28 |
#define TIMER_TEILER CK8 |
#define TIMER_RELOAD_VALUE 250 |
// Salvo Kompassoffset 24.12.2007 *********** |
//#define KOMPASS_OFFSET 135// Winkel zwischen Nordachse Kopter und Nordachse Kompass |
#define KOMPASS_OFFSET 0 // Winkel zwischen Nordachse Kopter und Nordachse Kompass |
// Wenn 0 wird der UserParameter4 fuer den Offset verwendet (0..360 Grad entspricht 0 ..180) |
// Salvo End |
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; |
//Salvo 21.9.2007 |
extern volatile uint8_t Kompass_Neuer_Wert; |
extern volatile unsigned int Kompass_Value_Old; |
extern unsigned short int Kompass_present; |
// Salvo End |
/branches/salvo_gps/Basis_v0067g/tags/v0007/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/salvo_gps/Basis_v0067g/tags/v0007/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/salvo_gps/Basis_v0067g/tags/v0007/uart.c |
---|
0,0 → 1,406 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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; |
//Salvo 26.10.2007 |
int dataset_cnt=0; //Zaehlt die uebertragenen Debugdaten |
//Salvo End |
const unsigned char ANALOG_TEXT[32][16] = |
{ |
//1234567890123456 |
"IntegralNick ", //0 |
"IntegralRoll ", |
"AccNick ", |
"AccRoll ", |
"GyroGier ", |
"HoehenWert ", //5 |
"AccZ ", |
"Gas ", |
"KompassValue ", |
"Ersatzkompass ", |
"Usr_Par1 ", //10 |
"Usr_par3 ", |
"Motor_Vorne ", |
"Motor_Hinten ", |
"Motor_Links ", |
"Motor_Rechts ", //15 |
/* "delta_east ", |
"delta_north ", |
"speed_e ", |
"speed_n ", //15 |
*/ |
"Index ", |
"UBat ", |
"Messwert_Nick ", |
"Messwert_Roll ", |
"Messwert_Gier ", //20 |
"Stick_Nick ", |
"Stick_Roll ", |
"Stick_Gier ", |
"GPS_Nick ", |
"GPS_Roll ", //25 |
"utm_east ", |
"utm_north ", |
"utm_alt ", |
"gps_state ", |
// "dist_flown ", //30 |
// "dist_2home " |
"gp_reg_x ", //30 |
"gp_reg_y " |
}; |
//+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
//++ 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; |
//Salvo 11.9.2007 GPS Daten holen |
Get_Ublox_Msg(SioTmp); // Daten vom GPS Modul holen |
// Salvo End |
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); |
} |
//--------------------------------------------------------------------------------------------- |
void DatenUebertragung(void) |
{ |
// static char dis_zeile = 0; |
if(!UebertragungAbgeschlossen) return; |
if(DebugGetAnforderung && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
{ |
SendOutData('G',MeineSlaveAdresse,(unsigned char *) &DebugIn,sizeof(DebugIn)); |
DebugGetAnforderung = 0; |
} |
if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
{ |
SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
DebugDataAnforderung = 0; |
//Salvo 26.10.2007 Counter fuer Erkennung von fehlenden Daten per Bluetoothuebertragung |
dataset_cnt++; |
// Salvo End |
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/salvo_gps/Basis_v0067g/tags/v0007/uart.h |
---|
0,0 → 1,106 |
#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 |
//Salvo 26.10.2007 |
extern int dataset_cnt; |
// salvo End |
void BearbeiteRxDaten(void); |
extern unsigned char DebugGetAnforderung; |
extern unsigned volatile char SendeBuffer[MAX_SENDE_BUFF]; |
extern unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
extern unsigned volatile char UebertragungAbgeschlossen; |
extern unsigned volatile char PC_DebugTimeout; |
extern unsigned volatile char NeueKoordinateEmpfangen; |
extern unsigned char MeineSlaveAdresse; |
extern unsigned char PcZugriff; |
extern unsigned char RemotePollDisplayLine; |
extern int Debug_Timer; |
extern void UART_Init (void); |
extern int uart_putchar (char c); |
extern void boot_program_page (uint32_t page, uint8_t *buf); |
extern void DatenUebertragung(void); |
extern void DecodeNMEA(void); |
extern void BearbeiteRxDaten(void); |
extern unsigned char MotorTest[4]; |
extern unsigned char DubWiseKeys[3]; |
struct str_DebugOut |
{ |
unsigned char Digital[2]; |
unsigned int Analog[32]; // Debugwerte |
}; |
extern struct str_DebugOut DebugOut; |
struct str_Debug |
{ |
unsigned char Digital[2]; |
unsigned char RemoteTasten; |
unsigned int Analog[4]; |
}; |
extern struct str_Debug DebugIn; |
struct str_VersionInfo |
{ |
unsigned char Hauptversion; |
unsigned char Nebenversion; |
unsigned char PCKompatibel; |
unsigned char Rserved[7]; |
}; |
extern struct str_VersionInfo VersionInfo; |
//Die Baud_Rate der Seriellen Schnittstelle ist 9600 Baud |
//#define BAUD_RATE 9600 //Baud Rate für die Serielle Schnittstelle |
//#define BAUD_RATE 14400 //Baud Rate für die Serielle Schnittstelle |
//#define BAUD_RATE 28800 //Baud Rate für die Serielle Schnittstelle |
//#define BAUD_RATE 38400 //Baud Rate für die Serielle Schnittstelle |
#define BAUD_RATE 57600 //Baud Rate für die Serielle Schnittstelle |
//Anpassen der seriellen Schnittstellen Register wenn ein ATMega128 benutzt wird |
#if defined (__AVR_ATmega128__) |
# define USR UCSR0A |
# define UCR UCSR0B |
# define UDR UDR0 |
# define UBRR UBRR0L |
# define EICR EICRB |
#endif |
#if defined (__AVR_ATmega32__) |
# define USR UCSRA |
# define UCR UCSRB |
# define UBRR UBRRL |
# define EICR EICRB |
# define INT_VEC_RX SIG_UART_RECV |
# define INT_VEC_TX SIG_UART_TRANS |
#endif |
#if defined (__AVR_ATmega644__) |
# define USR UCSR0A |
# define UCR UCSR0B |
# define UDR UDR0 |
# define UBRR UBRR0L |
# define EICR EICR0B |
# define TXEN TXEN0 |
# define RXEN RXEN0 |
# define RXCIE RXCIE0 |
# define TXCIE TXCIE0 |
# define U2X U2X0 |
# define UCSRB UCSR0B |
# define UDRE UDRE0 |
# define INT_VEC_RX SIG_USART_RECV |
# define INT_VEC_TX SIG_USART_TRANS |
#endif |
#endif //_UART_H |
/branches/salvo_gps/Basis_v0067g/tags/v0007 |
---|
Property changes: |
Added: svn:ignore |
+*.bak |
+*.aps |
+*.elf |
+*.sym |
+*.map |
+*.lss |
+*.eep |
+*.txt |
+*.mkp |