/branches/salvo_gps/Basis_v0067g/trunk/FlightCtrl.aps |
---|
0,0 → 1,0 |
<AVRStudio><MANAGEMENT><ProjectName>FlightCtrl</ProjectName><Created>15-May-2007 11:20:41</Created><LastEdit>22-Dec-2007 14:15:04</LastEdit><ICON>241</ICON><ProjectType>0</ProjectType><Created>15-May-2007 11:20:41</Created><Version>4</Version><Build>4, 13, 0, 528</Build><ProjectTypeName>AVR GCC</ProjectTypeName></MANAGEMENT><CODE_CREATION><ObjectFile>default\Flight-Ctrl.elf</ObjectFile><EntryFile></EntryFile><SaveFolder>G:\Mikrokopter\Flight_Crtl\v0067g\</SaveFolder></CODE_CREATION><DEBUG_TARGET><CURRENT_TARGET>AVR Simulator</CURRENT_TARGET><CURRENT_PART>ATmega644.xml</CURRENT_PART><BREAKPOINTS></BREAKPOINTS><IO_EXPAND><HIDE>false</HIDE></IO_EXPAND><REGISTERNAMES><Register>R00</Register><Register>R01</Register><Register>R02</Register><Register>R03</Register><Register>R04</Register><Register>R05</Register><Register>R06</Register><Register>R07</Register><Register>R08</Register><Register>R09</Register><Register>R10</Register><Register>R11</Register><Register>R12</Register><Register>R13</Register><Register>R14</Register><Register>R15</Register><Register>R16</Register><Register>R17</Register><Register>R18</Register><Register>R19</Register><Register>R20</Register><Register>R21</Register><Register>R22</Register><Register>R23</Register><Register>R24</Register><Register>R25</Register><Register>R26</Register><Register>R27</Register><Register>R28</Register><Register>R29</Register><Register>R30</Register><Register>R31</Register></REGISTERNAMES><COM>Auto</COM><COMType>0</COMType><WATCHNUM>0</WATCHNUM><WATCHNAMES><Pane0></Pane0><Pane1></Pane1><Pane2></Pane2><Pane3></Pane3></WATCHNAMES><BreakOnTrcaeFull>0</BreakOnTrcaeFull></DEBUG_TARGET><Debugger><Triggers></Triggers></Debugger><AVRGCCPLUGIN><FILES><SOURCEFILE>uart.c</SOURCEFILE><SOURCEFILE>analog.c</SOURCEFILE><SOURCEFILE>eeprom.c</SOURCEFILE><SOURCEFILE>fc.c</SOURCEFILE><SOURCEFILE>GPS.c</SOURCEFILE><SOURCEFILE>main.c</SOURCEFILE><SOURCEFILE>menu.c</SOURCEFILE><SOURCEFILE>printf_P.c</SOURCEFILE><SOURCEFILE>rc.c</SOURCEFILE><SOURCEFILE>timer0.c</SOURCEFILE><SOURCEFILE>twimaster.c</SOURCEFILE><SOURCEFILE>math.c</SOURCEFILE><HEADERFILE>uart.h</HEADERFILE><HEADERFILE>_Settings.h</HEADERFILE><HEADERFILE>analog.h</HEADERFILE><HEADERFILE>fc.h</HEADERFILE><HEADERFILE>gps.h</HEADERFILE><HEADERFILE>main.h</HEADERFILE><HEADERFILE>menu.h</HEADERFILE><HEADERFILE>old_macros.h</HEADERFILE><HEADERFILE>printf_P.h</HEADERFILE><HEADERFILE>rc.h</HEADERFILE><HEADERFILE>Settings.h</HEADERFILE><HEADERFILE>timer0.h</HEADERFILE><HEADERFILE>twimaster.h</HEADERFILE><HEADERFILE>math.h</HEADERFILE><OTHERFILE>makefile</OTHERFILE></FILES><CONFIGS><CONFIG><NAME>default</NAME><USESEXTERNALMAKEFILE>YES</USESEXTERNALMAKEFILE><EXTERNALMAKEFILE>makefile</EXTERNALMAKEFILE><PART>atmega644</PART><HEX>1</HEX><LIST>1</LIST><MAP>1</MAP><OUTPUTFILENAME>Flight-Ctrl.elf</OUTPUTFILENAME><OUTPUTDIR>default\</OUTPUTDIR><ISDIRTY>0</ISDIRTY><OPTIONS><OPTION><FILE>GPS.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>analog.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>eeprom.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>fc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>main.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>menu.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>printf_P.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>rc.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>timer0.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>twimaster.c</FILE><OPTIONLIST></OPTIONLIST></OPTION><OPTION><FILE>uart.c</FILE><OPTIONLIST></OPTIONLIST></OPTION></OPTIONS><INCDIRS/><LIBDIRS/><LIBS><LIB>libc.a</LIB><LIB>libm.a</LIB></LIBS><LINKOBJECTS/><OPTIONSFORALL>-Wall -gdwarf-2 -Wstrict-prototypes -std=gnu99 -DVERSION_HAUPTVERSION=0 -DVERSION_NEBENVERSION=64 -DVERSION_KOMPATIBEL=5 -Os -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums</OPTIONSFORALL><LINKEROPTIONS></LINKEROPTIONS><SEGMENTS/></CONFIG></CONFIGS><LASTCONFIG>default</LASTCONFIG><USES_WINAVR>1</USES_WINAVR><GCC_LOC>C:\WinAVR-20071221\bin\avr-gcc.exe</GCC_LOC><MAKE_LOC>C:\WinAVR-20071221\utils\bin\make.exe</MAKE_LOC></AVRGCCPLUGIN><IOView><usergroups/></IOView><Files><File00000><FileId>00000</FileId><FileName>timer0.c</FileName><Status>1</Status></File00000><File00001><FileId>00001</FileId><FileName>analog.h</FileName><Status>1</Status></File00001><File00002><FileId>00002</FileId><FileName>makefile</FileName><Status>1</Status></File00002><File00003><FileId>00003</FileId><FileName>main.c</FileName><Status>1</Status></File00003></Files><Events><Bookmarks></Bookmarks></Events><Trace><Filters></Filters></Trace></AVRStudio> |
/branches/salvo_gps/Basis_v0067g/trunk/GPS.c |
---|
0,0 → 1,677 |
/* |
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 14.1.2008 |
++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
*/ |
#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*3)/10// auf 30 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 * abs(speed_east) * (long)amplfy_speed_east ) /40000; //quadrieren |
// speed_north = (speed_north * abs(speed_north) * (long)amplfy_speed_north) /40000; //quadrieren |
speed_east = (speed_east * (long)amplfy_speed_east) /100; |
speed_north = (speed_north * (long)amplfy_speed_north)/100; |
// D Werte begrenzen |
#define D_F_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf xx 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 * abs(speed_east) * (long)amplfy_speed_east) /20000; //quadrieren |
// speed_north = (speed_north * abs(speed_north) * (long)amplfy_speed_north) /20000; //quadrieren |
speed_east = (speed_east * (long)amplfy_speed_east) /50; |
speed_north = (speed_north * (long)amplfy_speed_north)/50; |
// D Werte begrenzen |
#define D_N_MAX (GPS_NICKROLL_MAX * GPS_V*7)/10 // auf xx 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 quadrieren |
// delta_east = (abs(delta_east) * delta_east )/20; //quadrieren |
// delta_north = (abs(delta_north) * delta_north)/20; //quadrieren |
// delta_east = (delta_east )/2; //quadrieren |
// delta_north = (delta_north)/2; //quadrieren |
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*5)/10 // auf xx 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*5)/10 // auf xx 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/trunk/License_GPL.txt |
---|
0,0 → 1,674 |
GNU 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. |
Preamble |
The GNU General Public License is a free, copyleft license for |
software and other kinds of works. |
The licenses for most software and other practical works are designed |
to take away your freedom to share and change the works. By contrast, |
the GNU General Public License is intended to guarantee your freedom to |
share and change all versions of a program--to make sure it remains free |
software for all its users. We, the Free Software Foundation, use the |
GNU General Public License for most of our software; it applies also to |
any other work released this way by its authors. You can apply it to |
your programs, too. |
When we speak of free software, we are referring to freedom, not |
price. Our General Public Licenses are designed to make sure that you |
have the freedom to distribute copies of free software (and charge for |
them if you wish), that you receive source code or can get it if you |
want it, that you can change the software or use pieces of it in new |
free programs, and that you know you can do these things. |
To protect your rights, we need to prevent others from denying you |
these rights or asking you to surrender the rights. Therefore, you have |
certain responsibilities if you distribute copies of the software, or if |
you modify it: responsibilities to respect the freedom of others. |
For example, if you distribute copies of such a program, whether |
gratis or for a fee, you must pass on to the recipients the same |
freedoms that you received. You must make sure that they, too, receive |
or can get the source code. And you must show them these terms so they |
know their rights. |
Developers that use the GNU GPL protect your rights with two steps: |
(1) assert copyright on the software, and (2) offer you this License |
giving you legal permission to copy, distribute and/or modify it. |
For the developers' and authors' protection, the GPL clearly explains |
that there is no warranty for this free software. For both users' and |
authors' sake, the GPL requires that modified versions be marked as |
changed, so that their problems will not be attributed erroneously to |
authors of previous versions. |
Some devices are designed to deny users access to install or run |
modified versions of the software inside them, although the manufacturer |
can do so. This is fundamentally incompatible with the aim of |
protecting users' freedom to change the software. The systematic |
pattern of such abuse occurs in the area of products for individuals to |
use, which is precisely where it is most unacceptable. Therefore, we |
have designed this version of the GPL to prohibit the practice for those |
products. If such problems arise substantially in other domains, we |
stand ready to extend this provision to those domains in future versions |
of the GPL, as needed to protect the freedom of users. |
Finally, every program is threatened constantly by software patents. |
States should not allow patents to restrict development and use of |
software on general-purpose computers, but in those that do, we wish to |
avoid the special danger that patents applied to a free program could |
make it effectively proprietary. To prevent this, the GPL assures that |
patents cannot be used to render the program non-free. |
The precise terms and conditions for copying, distribution and |
modification follow. |
TERMS AND CONDITIONS |
0. Definitions. |
"This License" refers to version 3 of the GNU General Public License. |
"Copyright" also means copyright-like laws that apply to other kinds of |
works, such as semiconductor masks. |
"The Program" refers to any copyrightable work licensed under this |
License. Each licensee is addressed as "you". "Licensees" and |
"recipients" may be individuals or organizations. |
To "modify" a work means to copy from or adapt all or part of the work |
in a fashion requiring copyright permission, other than the making of an |
exact copy. The resulting work is called a "modified version" of the |
earlier work or a work "based on" the earlier work. |
A "covered work" means either the unmodified Program or a work based |
on the Program. |
To "propagate" a work means to do anything with it that, without |
permission, would make you directly or secondarily liable for |
infringement under applicable copyright law, except executing it on a |
computer or modifying a private copy. Propagation includes copying, |
distribution (with or without modification), making available to the |
public, and in some countries other activities as well. |
To "convey" a work means any kind of propagation that enables other |
parties to make or receive copies. Mere interaction with a user through |
a computer network, with no transfer of a copy, is not conveying. |
An interactive user interface displays "Appropriate Legal Notices" |
to the extent that it includes a convenient and prominently visible |
feature that (1) displays an appropriate copyright notice, and (2) |
tells the user that there is no warranty for the work (except to the |
extent that warranties are provided), that licensees may convey the |
work under this License, and how to view a copy of this License. If |
the interface presents a list of user commands or options, such as a |
menu, a prominent item in the list meets this criterion. |
1. Source Code. |
The "source code" for a work means the preferred form of the work |
for making modifications to it. "Object code" means any non-source |
form of a work. |
A "Standard Interface" means an interface that either is an official |
standard defined by a recognized standards body, or, in the case of |
interfaces specified for a particular programming language, one that |
is widely used among developers working in that language. |
The "System Libraries" of an executable work include anything, other |
than the work as a whole, that (a) is included in the normal form of |
packaging a Major Component, but which is not part of that Major |
Component, and (b) serves only to enable use of the work with that |
Major Component, or to implement a Standard Interface for which an |
implementation is available to the public in source code form. A |
"Major Component", in this context, means a major essential component |
(kernel, window system, and so on) of the specific operating system |
(if any) on which the executable work runs, or a compiler used to |
produce the work, or an object code interpreter used to run it. |
The "Corresponding Source" for a work in object code form means all |
the source code needed to generate, install, and (for an executable |
work) run the object code and to modify the work, including scripts to |
control those activities. However, it does not include the work's |
System Libraries, or general-purpose tools or generally available free |
programs which are used unmodified in performing those activities but |
which are not part of the work. For example, Corresponding Source |
includes interface definition files associated with source files for |
the work, and the source code for shared libraries and dynamically |
linked subprograms that the work is specifically designed to require, |
such as by intimate data communication or control flow between those |
subprograms and other parts of the work. |
The Corresponding Source need not include anything that users |
can regenerate automatically from other parts of the Corresponding |
Source. |
The Corresponding Source for a work in source code form is that |
same work. |
2. Basic Permissions. |
All rights granted under this License are granted for the term of |
copyright on the Program, and are irrevocable provided the stated |
conditions are met. This License explicitly affirms your unlimited |
permission to run the unmodified Program. The output from running a |
covered work is covered by this License only if the output, given its |
content, constitutes a covered work. This License acknowledges your |
rights of fair use or other equivalent, as provided by copyright law. |
You may make, run and propagate covered works that you do not |
convey, without conditions so long as your license otherwise remains |
in force. You may convey covered works to others for the sole purpose |
of having them make modifications exclusively for you, or provide you |
with facilities for running those works, provided that you comply with |
the terms of this License in conveying all material for which you do |
not control copyright. Those thus making or running the covered works |
for you must do so exclusively on your behalf, under your direction |
and control, on terms that prohibit them from making any copies of |
your copyrighted material outside their relationship with you. |
Conveying under any other circumstances is permitted solely under |
the conditions stated below. Sublicensing is not allowed; section 10 |
makes it unnecessary. |
3. Protecting Users' Legal Rights From Anti-Circumvention Law. |
No covered work shall be deemed part of an effective technological |
measure under any applicable law fulfilling obligations under article |
11 of the WIPO copyright treaty adopted on 20 December 1996, or |
similar laws prohibiting or restricting circumvention of such |
measures. |
When you convey a covered work, you waive any legal power to forbid |
circumvention of technological measures to the extent such circumvention |
is effected by exercising rights under this License with respect to |
the covered work, and you disclaim any intention to limit operation or |
modification of the work as a means of enforcing, against the work's |
users, your or third parties' legal rights to forbid circumvention of |
technological measures. |
4. Conveying Verbatim Copies. |
You may convey verbatim copies of the Program's source code as you |
receive it, in any medium, provided that you conspicuously and |
appropriately publish on each copy an appropriate copyright notice; |
keep intact all notices stating that this License and any |
non-permissive terms added in accord with section 7 apply to the code; |
keep intact all notices of the absence of any warranty; and give all |
recipients a copy of this License along with the Program. |
You may charge any price or no price for each copy that you convey, |
and you may offer support or warranty protection for a fee. |
5. Conveying Modified Source Versions. |
You may convey a work based on the Program, or the modifications to |
produce it from the Program, in the form of source code under the |
terms of section 4, provided that you also meet all of these conditions: |
a) The work must carry prominent notices stating that you modified |
it, and giving a relevant date. |
b) The work must carry prominent notices stating that it is |
released under this License and any conditions added under section |
7. This requirement modifies the requirement in section 4 to |
"keep intact all notices". |
c) You must license the entire work, as a whole, under this |
License to anyone who comes into possession of a copy. This |
License will therefore apply, along with any applicable section 7 |
additional terms, to the whole of the work, and all its parts, |
regardless of how they are packaged. This License gives no |
permission to license the work in any other way, but it does not |
invalidate such permission if you have separately received it. |
d) If the work has interactive user interfaces, each must display |
Appropriate Legal Notices; however, if the Program has interactive |
interfaces that do not display Appropriate Legal Notices, your |
work need not make them do so. |
A compilation of a covered work with other separate and independent |
works, which are not by their nature extensions of the covered work, |
and which are not combined with it such as to form a larger program, |
in or on a volume of a storage or distribution medium, is called an |
"aggregate" if the compilation and its resulting copyright are not |
used to limit the access or legal rights of the compilation's users |
beyond what the individual works permit. Inclusion of a covered work |
in an aggregate does not cause this License to apply to the other |
parts of the aggregate. |
6. Conveying Non-Source Forms. |
You may convey a covered work in object code form under the terms |
of sections 4 and 5, provided that you also convey the |
machine-readable Corresponding Source under the terms of this License, |
in one of these ways: |
a) Convey the object code in, or embodied in, a physical product |
(including a physical distribution medium), accompanied by the |
Corresponding Source fixed on a durable physical medium |
customarily used for software interchange. |
b) Convey the object code in, or embodied in, a physical product |
(including a physical distribution medium), accompanied by a |
written offer, valid for at least three years and valid for as |
long as you offer spare parts or customer support for that product |
model, to give anyone who possesses the object code either (1) a |
copy of the Corresponding Source for all the software in the |
product that is covered by this License, on a durable physical |
medium customarily used for software interchange, for a price no |
more than your reasonable cost of physically performing this |
conveying of source, or (2) access to copy the |
Corresponding Source from a network server at no charge. |
c) Convey individual copies of the object code with a copy of the |
written offer to provide the Corresponding Source. This |
alternative is allowed only occasionally and noncommercially, and |
only if you received the object code with such an offer, in accord |
with subsection 6b. |
d) Convey the object code by offering access from a designated |
place (gratis or for a charge), and offer equivalent access to the |
Corresponding Source in the same way through the same place at no |
further charge. You need not require recipients to copy the |
Corresponding Source along with the object code. If the place to |
copy the object code is a network server, the Corresponding Source |
may be on a different server (operated by you or a third party) |
that supports equivalent copying facilities, provided you maintain |
clear directions next to the object code saying where to find the |
Corresponding Source. Regardless of what server hosts the |
Corresponding Source, you remain obligated to ensure that it is |
available for as long as needed to satisfy these requirements. |
e) Convey the object code using peer-to-peer transmission, provided |
you inform other peers where the object code and Corresponding |
Source of the work are being offered to the general public at no |
charge under subsection 6d. |
A separable portion of the object code, whose source code is excluded |
from the Corresponding Source as a System Library, need not be |
included in conveying the object code work. |
A "User Product" is either (1) a "consumer product", which means any |
tangible personal property which is normally used for personal, family, |
or household purposes, or (2) anything designed or sold for incorporation |
into a dwelling. In determining whether a product is a consumer product, |
doubtful cases shall be resolved in favor of coverage. For a particular |
product received by a particular user, "normally used" refers to a |
typical or common use of that class of product, regardless of the status |
of the particular user or of the way in which the particular user |
actually uses, or expects or is expected to use, the product. A product |
is a consumer product regardless of whether the product has substantial |
commercial, industrial or non-consumer uses, unless such uses represent |
the only significant mode of use of the product. |
"Installation Information" for a User Product means any methods, |
procedures, authorization keys, or other information required to install |
and execute modified versions of a covered work in that User Product from |
a modified version of its Corresponding Source. The information must |
suffice to ensure that the continued functioning of the modified object |
code is in no case prevented or interfered with solely because |
modification has been made. |
If you convey an object code work under this section in, or with, or |
specifically for use in, a User Product, and the conveying occurs as |
part of a transaction in which the right of possession and use of the |
User Product is transferred to the recipient in perpetuity or for a |
fixed term (regardless of how the transaction is characterized), the |
Corresponding Source conveyed under this section must be accompanied |
by the Installation Information. But this requirement does not apply |
if neither you nor any third party retains the ability to install |
modified object code on the User Product (for example, the work has |
been installed in ROM). |
The requirement to provide Installation Information does not include a |
requirement to continue to provide support service, warranty, or updates |
for a work that has been modified or installed by the recipient, or for |
the User Product in which it has been modified or installed. Access to a |
network may be denied when the modification itself materially and |
adversely affects the operation of the network or violates the rules and |
protocols for communication across the network. |
Corresponding Source conveyed, and Installation Information provided, |
in accord with this section must be in a format that is publicly |
documented (and with an implementation available to the public in |
source code form), and must require no special password or key for |
unpacking, reading or copying. |
7. Additional Terms. |
"Additional permissions" are terms that supplement the terms of this |
License by making exceptions from one or more of its conditions. |
Additional permissions that are applicable to the entire Program shall |
be treated as though they were included in this License, to the extent |
that they are valid under applicable law. If additional permissions |
apply only to part of the Program, that part may be used separately |
under those permissions, but the entire Program remains governed by |
this License without regard to the additional permissions. |
When you convey a copy of a covered work, you may at your option |
remove any additional permissions from that copy, or from any part of |
it. (Additional permissions may be written to require their own |
removal in certain cases when you modify the work.) You may place |
additional permissions on material, added by you to a covered work, |
for which you have or can give appropriate copyright permission. |
Notwithstanding any other provision of this License, for material you |
add to a covered work, you may (if authorized by the copyright holders of |
that material) supplement the terms of this License with terms: |
a) Disclaiming warranty or limiting liability differently from the |
terms of sections 15 and 16 of this License; or |
b) Requiring preservation of specified reasonable legal notices or |
author attributions in that material or in the Appropriate Legal |
Notices displayed by works containing it; or |
c) Prohibiting misrepresentation of the origin of that material, or |
requiring that modified versions of such material be marked in |
reasonable ways as different from the original version; or |
d) Limiting the use for publicity purposes of names of licensors or |
authors of the material; or |
e) Declining to grant rights under trademark law for use of some |
trade names, trademarks, or service marks; or |
f) Requiring indemnification of licensors and authors of that |
material by anyone who conveys the material (or modified versions of |
it) with contractual assumptions of liability to the recipient, for |
any liability that these contractual assumptions directly impose on |
those licensors and authors. |
All other non-permissive additional terms are considered "further |
restrictions" within the meaning of section 10. If the Program as you |
received it, or any part of it, contains a notice stating that it is |
governed by this License along with a term that is a further |
restriction, you may remove that term. If a license document contains |
a further restriction but permits relicensing or conveying under this |
License, you may add to a covered work material governed by the terms |
of that license document, provided that the further restriction does |
not survive such relicensing or conveying. |
If you add terms to a covered work in accord with this section, you |
must place, in the relevant source files, a statement of the |
additional terms that apply to those files, or a notice indicating |
where to find the applicable terms. |
Additional terms, permissive or non-permissive, may be stated in the |
form of a separately written license, or stated as exceptions; |
the above requirements apply either way. |
8. Termination. |
You may not propagate or modify a covered work except as expressly |
provided under this License. Any attempt otherwise to propagate or |
modify it is void, and will automatically terminate your rights under |
this License (including any patent licenses granted under the third |
paragraph of section 11). |
However, if you cease all violation of this License, then your |
license from a particular copyright holder is reinstated (a) |
provisionally, unless and until the copyright holder explicitly and |
finally terminates your license, and (b) permanently, if the copyright |
holder fails to notify you of the violation by some reasonable means |
prior to 60 days after the cessation. |
Moreover, your license from a particular copyright holder is |
reinstated permanently if the copyright holder notifies you of the |
violation by some reasonable means, this is the first time you have |
received notice of violation of this License (for any work) from that |
copyright holder, and you cure the violation prior to 30 days after |
your receipt of the notice. |
Termination of your rights under this section does not terminate the |
licenses of parties who have received copies or rights from you under |
this License. If your rights have been terminated and not permanently |
reinstated, you do not qualify to receive new licenses for the same |
material under section 10. |
9. Acceptance Not Required for Having Copies. |
You are not required to accept this License in order to receive or |
run a copy of the Program. Ancillary propagation of a covered work |
occurring solely as a consequence of using peer-to-peer transmission |
to receive a copy likewise does not require acceptance. However, |
nothing other than this License grants you permission to propagate or |
modify any covered work. These actions infringe copyright if you do |
not accept this License. Therefore, by modifying or propagating a |
covered work, you indicate your acceptance of this License to do so. |
10. Automatic Licensing of Downstream Recipients. |
Each time you convey a covered work, the recipient automatically |
receives a license from the original licensors, to run, modify and |
propagate that work, subject to this License. You are not responsible |
for enforcing compliance by third parties with this License. |
An "entity transaction" is a transaction transferring control of an |
organization, or substantially all assets of one, or subdividing an |
organization, or merging organizations. If propagation of a covered |
work results from an entity transaction, each party to that |
transaction who receives a copy of the work also receives whatever |
licenses to the work the party's predecessor in interest had or could |
give under the previous paragraph, plus a right to possession of the |
Corresponding Source of the work from the predecessor in interest, if |
the predecessor has it or can get it with reasonable efforts. |
You may not impose any further restrictions on the exercise of the |
rights granted or affirmed under this License. For example, you may |
not impose a license fee, royalty, or other charge for exercise of |
rights granted under this License, and you may not initiate litigation |
(including a cross-claim or counterclaim in a lawsuit) alleging that |
any patent claim is infringed by making, using, selling, offering for |
sale, or importing the Program or any portion of it. |
11. Patents. |
A "contributor" is a copyright holder who authorizes use under this |
License of the Program or a work on which the Program is based. The |
work thus licensed is called the contributor's "contributor version". |
A contributor's "essential patent claims" are all patent claims |
owned or controlled by the contributor, whether already acquired or |
hereafter acquired, that would be infringed by some manner, permitted |
by this License, of making, using, or selling its contributor version, |
but do not include claims that would be infringed only as a |
consequence of further modification of the contributor version. For |
purposes of this definition, "control" includes the right to grant |
patent sublicenses in a manner consistent with the requirements of |
this License. |
Each contributor grants you a non-exclusive, worldwide, royalty-free |
patent license under the contributor's essential patent claims, to |
make, use, sell, offer for sale, import and otherwise run, modify and |
propagate the contents of its contributor version. |
In the following three paragraphs, a "patent license" is any express |
agreement or commitment, however denominated, not to enforce a patent |
(such as an express permission to practice a patent or covenant not to |
sue for patent infringement). To "grant" such a patent license to a |
party means to make such an agreement or commitment not to enforce a |
patent against the party. |
If you convey a covered work, knowingly relying on a patent license, |
and the Corresponding Source of the work is not available for anyone |
to copy, free of charge and under the terms of this License, through a |
publicly available network server or other readily accessible means, |
then you must either (1) cause the Corresponding Source to be so |
available, or (2) arrange to deprive yourself of the benefit of the |
patent license for this particular work, or (3) arrange, in a manner |
consistent with the requirements of this License, to extend the patent |
license to downstream recipients. "Knowingly relying" means you have |
actual knowledge that, but for the patent license, your conveying the |
covered work in a country, or your recipient's use of the covered work |
in a country, would infringe one or more identifiable patents in that |
country that you have reason to believe are valid. |
If, pursuant to or in connection with a single transaction or |
arrangement, you convey, or propagate by procuring conveyance of, a |
covered work, and grant a patent license to some of the parties |
receiving the covered work authorizing them to use, propagate, modify |
or convey a specific copy of the covered work, then the patent license |
you grant is automatically extended to all recipients of the covered |
work and works based on it. |
A patent license is "discriminatory" if it does not include within |
the scope of its coverage, prohibits the exercise of, or is |
conditioned on the non-exercise of one or more of the rights that are |
specifically granted under this License. You may not convey a covered |
work if you are a party to an arrangement with a third party that is |
in the business of distributing software, under which you make payment |
to the third party based on the extent of your activity of conveying |
the work, and under which the third party grants, to any of the |
parties who would receive the covered work from you, a discriminatory |
patent license (a) in connection with copies of the covered work |
conveyed by you (or copies made from those copies), or (b) primarily |
for and in connection with specific products or compilations that |
contain the covered work, unless you entered into that arrangement, |
or that patent license was granted, prior to 28 March 2007. |
Nothing in this License shall be construed as excluding or limiting |
any implied license or other defenses to infringement that may |
otherwise be available to you under applicable patent law. |
12. No Surrender of Others' Freedom. |
If conditions are imposed on you (whether by court order, agreement or |
otherwise) that contradict the conditions of this License, they do not |
excuse you from the conditions of this License. If you cannot convey a |
covered work so as to satisfy simultaneously your obligations under this |
License and any other pertinent obligations, then as a consequence you may |
not convey it at all. For example, if you agree to terms that obligate you |
to collect a royalty for further conveying from those to whom you convey |
the Program, the only way you could satisfy both those terms and this |
License would be to refrain entirely from conveying the Program. |
13. Use with the GNU Affero General Public License. |
Notwithstanding any other provision of this License, you have |
permission to link or combine any covered work with a work licensed |
under version 3 of the GNU Affero General Public License into a single |
combined work, and to convey the resulting work. The terms of this |
License will continue to apply to the part which is the covered work, |
but the special requirements of the GNU Affero General Public License, |
section 13, concerning interaction through a network will apply to the |
combination as such. |
14. Revised Versions of this License. |
The Free Software Foundation may publish revised and/or new versions of |
the GNU General Public License from time to time. Such new versions will |
be similar in spirit to the present version, but may differ in detail to |
address new problems or concerns. |
Each version is given a distinguishing version number. If the |
Program specifies that a certain numbered version of the GNU General |
Public License "or any later version" applies to it, you have the |
option of following the terms and conditions either of that numbered |
version or of any later version published by the Free Software |
Foundation. If the Program does not specify a version number of the |
GNU General Public License, you may choose any version ever published |
by the Free Software Foundation. |
If the Program specifies that a proxy can decide which future |
versions of the GNU General Public License can be used, that proxy's |
public statement of acceptance of a version permanently authorizes you |
to choose that version for the Program. |
Later license versions may give you additional or different |
permissions. However, no additional obligations are imposed on any |
author or copyright holder as a result of your choosing to follow a |
later version. |
15. Disclaimer of Warranty. |
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY |
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT |
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY |
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, |
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR |
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM |
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF |
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 |
SUCH DAMAGES. |
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 |
state the exclusion of warranty; and each file should have at least |
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 |
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 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 |
the library. If this is what you want to do, use the GNU Lesser General |
Public License instead of this License. But first, please read |
<http://www.gnu.org/philosophy/why-not-lgpl.html>. |
/branches/salvo_gps/Basis_v0067g/trunk/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. |
An "Application" is any work that makes use of an interface provided |
by the Library, but which is not otherwise based on the Library. |
Defining a subclass of a class defined by the Library is deemed a mode |
of using an interface provided by the Library. |
A "Combined Work" is a work produced by combining or linking an |
Application with the Library. The particular version of the Library |
with which the Combined Work was made is also called the "Linked |
Version". |
The "Minimal Corresponding Source" for a Combined Work means the |
Corresponding Source for the Combined Work, excluding any source code |
for portions of the Combined Work that, considered in isolation, are |
based on the Application, and not on the Linked Version. |
The "Corresponding Application Code" for a Combined Work means the |
object code and/or source code for the Application, including any data |
and utility programs needed for reproducing the Combined Work from the |
Application, but excluding the System Libraries of the Combined Work. |
1. Exception to Section 3 of the GNU GPL. |
You may convey a covered work under sections 3 and 4 of this License |
without being bound by section 3 of the GNU GPL. |
2. Conveying Modified Versions. |
If you modify a copy of the Library, and, in your modifications, a |
facility refers to a function or data to be supplied by an Application |
that uses the facility (other than as an argument passed when the |
facility is invoked), then you may convey a copy of the modified |
version: |
a) under this License, provided that you make a good faith effort to |
ensure that, in the event an Application does not supply the |
function or data, the facility still operates, and performs |
whatever part of its purpose remains meaningful, or |
b) under the GNU GPL, with none of the additional permissions of |
this License applicable to that copy. |
3. Object Code Incorporating Material from Library Header Files. |
The object code form of an Application may incorporate material from |
a header file that is part of the Library. You may convey such object |
code under terms of your choice, provided that, if the incorporated |
material is not limited to numerical parameters, data structure |
layouts and accessors, or small macros, inline functions and templates |
(ten or fewer lines in length), you do both of the following: |
a) Give prominent notice with each copy of the object code that the |
Library is used in it and that the Library and its use are |
covered by this License. |
b) Accompany the object code with a copy of the GNU GPL and this license |
document. |
4. Combined Works. |
You may convey a Combined Work under terms of your choice that, |
taken together, effectively do not restrict modification of the |
portions of the Library contained in the Combined Work and reverse |
engineering for debugging such modifications, if you also do each of |
the following: |
a) Give prominent notice with each copy of the Combined Work that |
the Library is used in it and that the Library and its use are |
covered by this License. |
b) Accompany the Combined Work with a copy of the GNU GPL and this license |
document. |
c) For a Combined Work that displays copyright notices during |
execution, include the copyright notice for the Library among |
these notices, as well as a reference directing the user to the |
copies of the GNU GPL and this license document. |
d) Do one of the following: |
0) Convey the Minimal Corresponding Source under the terms of this |
License, and the Corresponding Application Code in a form |
suitable for, and under terms that permit, the user to |
recombine or relink the Application with a modified version of |
the Linked Version to produce a modified Combined Work, in the |
manner specified by section 6 of the GNU GPL for conveying |
Corresponding Source. |
1) Use a suitable shared library mechanism for linking with the |
Library. A suitable mechanism is one that (a) uses at run time |
a copy of the Library already present on the user's computer |
system, and (b) will operate properly with a modified version |
of the Library that is interface-compatible with the Linked |
Version. |
e) Provide Installation Information, but only if you would otherwise |
be required to provide such information under section 6 of the |
GNU GPL, and only to the extent that such information is |
necessary to install and execute a modified version of the |
Combined Work produced by recombining or relinking the |
Application with a modified version of the Linked Version. (If |
you use option 4d0, the Installation Information must accompany |
the Minimal Corresponding Source and Corresponding Application |
Code. If you use option 4d1, you must provide the Installation |
Information in the manner specified by section 6 of the GNU GPL |
for conveying Corresponding Source.) |
5. Combined Libraries. |
You may place library facilities that are a work based on the |
Library side by side in a single library together with other library |
facilities that are not Applications and are not covered by this |
License, and convey such a combined library under terms of your |
choice, if you do both of the following: |
a) Accompany the combined library with a copy of the same work based |
on the Library, uncombined with any other library facilities, |
conveyed under the terms of this License. |
b) Give prominent notice with the combined library that part of it |
is a work based on the Library, and explaining where to find the |
accompanying uncombined form of the same work. |
6. Revised Versions of the GNU Lesser General Public License. |
The Free Software Foundation may publish revised and/or new versions |
of the GNU Lesser General Public License from time to time. Such new |
versions will be similar in spirit to the present version, but may |
differ in detail to address new problems or concerns. |
Each version is given a distinguishing version number. If the |
Library as you received it specifies that a certain numbered version |
of the GNU Lesser General Public License "or any later version" |
applies to it, you have the option of following the terms and |
conditions either of that published version or of any later version |
published by the Free Software Foundation. If the Library as you |
received it does not specify a version number of the GNU Lesser |
General Public License, you may choose any version of the GNU Lesser |
General Public License ever published by the Free Software Foundation. |
If the Library as you received it specifies that a proxy can decide |
whether future versions of the GNU Lesser General Public License shall |
apply, that proxy's public statement of acceptance of any version is |
permanent authorization for you to choose that version for the |
Library. |
/branches/salvo_gps/Basis_v0067g/trunk/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/trunk/README_Gps_Deutsch.txt |
---|
0,0 → 1,89 |
********************************************************************* |
GPS Implementierung von Peter Muehlenbrock ("Salvo") für Mikrokopter/FlightCrtl |
Stand 14.1.2008 |
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. Er erhöht aber die Schwingneigung. |
P und D Anteil mussen gut aufeinander abgestimmt sein, damit die Einschwingzeit klein bei gleichzeitig geringer Schwingneigung ist. |
Standarddwerte für P,I,D sind 80,0,120. |
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. |
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/trunk/README_Gps_English.txt |
---|
0,0 → 1,66 |
********************************************************************* |
GPS Implementation by Peter Muehlenbrock ("Salvo") for Mikrokopter/FlightCrtl |
As of Jan, 9th 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 80,0,120. |
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/trunk/Settings.h |
---|
--- trunk/flightctrl.aws (nonexistent) |
+++ trunk/flightctrl.aws (revision 662) |
@@ -0,0 +1 @@ |
+<AVRWorkspace><IOSettings><CurrentRegisters/></IOSettings><part name="ATMEGA644"/><Files><File00000 Name="G:\Mikrokopter\Flight_Crtl\v0067g\timer0.c" Position="266 101 1182 710" LineCol="164 0" State="Maximized"/><File00001 Name="G:\Mikrokopter\Flight_Crtl\v0067g\analog.h" Position="288 130 1218 738" LineCol="0 0" State="Maximized"/><File00002 Name="G:\Mikrokopter\Flight_Crtl\v0067g\makefile" Position="310 159 1240 767" LineCol="157 0" State="Maximized"/><File00003 Name="G:\Mikrokopter\Flight_Crtl\v0067g\main.c" Position="332 188 1262 796" LineCol="243 17" State="Maximized"/><File00004 Name="G:\Mikrokopter\Flight_Crtl\v0067g\fc.h" Position="354 217 1284 825" LineCol="0 0" State="Maximized"/><File00005 Name="G:\Mikrokopter\Flight_Crtl\v0067g\timer0.h" Position="262 71 1402 978" LineCol="6 0" State="Maximized"/></Files></AVRWorkspace> |
/branches/salvo_gps/Basis_v0067g/trunk/gps.h |
---|
0,0 → 1,131 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// Peter Muehlenbrock alias Salvo |
// Definitionen fuer Modul GPS |
// Stand 9.1.2008 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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 300 // 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 4 //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/trunk/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/trunk/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/trunk/makefile |
---|
0,0 → 1,411 |
#-------------------------------------------------------------------- |
# MCU name |
MCU = atmega644 |
F_CPU = 20000000 |
#------------------------------------------------------------------- |
HAUPT_VERSION = 0 |
NEBEN_VERSION = 06 |
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/trunk/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/trunk/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/trunk/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/trunk/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/trunk/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/trunk/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/trunk/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/trunk/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/trunk/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/trunk/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/trunk/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/trunk/sport.mkp |
---|
0,0 → 1,64 |
[Setup] |
Name=Sport |
GlobalConfig=3 |
[Channels] |
Gas=1 |
Gier=2 |
Nick=3 |
Roll=4 |
Poti_1=5 |
Poti_2=6 |
Poti_3=7 |
Poti_4=8 |
[Stick] |
Nick_Roll-P=3 |
Nick_Roll-D=4 |
Gier-P=14 |
[Altitude] |
Setpoint=251 |
MinGas=30 |
P=10 |
Barometric-D=50 |
Z-ACC-Effect=50 |
Gain=4 |
[Gyro] |
P=120 |
I=150 |
DynamicStability=100 |
ACC_Gyro-Factor=26 |
ACC_Gyro-Compensation=50 |
DriftCompensation=4 |
Main-I=32 |
[Others] |
MinGas=15 |
MaxGas=250 |
Compass-Effect=128 |
UnderVoltage=100 |
NotGas=95 |
NotGasTime=60 |
[User] |
Parameter_1=90 |
Parameter_2=16 |
Parameter_3=130 |
Parameter_4=0 |
Parameter_5=0 |
Parameter_6=0 |
Parameter_7=0 |
Parameter_8=0 |
[Camera] |
ServoNickControl=100 |
ServoNickCompensation=40 |
ServoNickInvert=0 |
ServoNickMin=50 |
ServoNickMax=150 |
ServoNickRefreshRate=5 |
[Loop] |
Config=0 |
GasLimit=50 |
StickThreshold=90 |
LoopHysteresis=50 |
TurnOverNick=100 |
TurnOverRoll=100 |
[Coupling] |
YawPosFeedback=100 |
YawNegFeedback=10 |
/branches/salvo_gps/Basis_v0067g/trunk/sport_gps.mkp |
---|
0,0 → 1,64 |
[Setup] |
Name=Sport_gps |
GlobalConfig=35 |
[Channels] |
Gas=1 |
Gier=2 |
Nick=3 |
Roll=4 |
Poti_1=5 |
Poti_2=6 |
Poti_3=7 |
Poti_4=8 |
[Stick] |
Nick_Roll-P=3 |
Nick_Roll-D=4 |
Gier-P=14 |
[Altitude] |
Setpoint=251 |
MinGas=30 |
P=10 |
Barometric-D=50 |
Z-ACC-Effect=50 |
Gain=4 |
[Gyro] |
P=120 |
I=150 |
DynamicStability=100 |
ACC_Gyro-Factor=26 |
ACC_Gyro-Compensation=50 |
DriftCompensation=4 |
Main-I=32 |
[Others] |
MinGas=15 |
MaxGas=250 |
Compass-Effect=128 |
UnderVoltage=100 |
NotGas=95 |
NotGasTime=60 |
[User] |
Parameter_1=252 |
Parameter_2=0 |
Parameter_3=253 |
Parameter_4=0 |
Parameter_5=0 |
Parameter_6=0 |
Parameter_7=0 |
Parameter_8=0 |
[Camera] |
ServoNickControl=100 |
ServoNickCompensation=40 |
ServoNickInvert=0 |
ServoNickMin=50 |
ServoNickMax=150 |
ServoNickRefreshRate=5 |
[Loop] |
Config=0 |
GasLimit=50 |
StickThreshold=90 |
LoopHysteresis=50 |
TurnOverNick=100 |
TurnOverRoll=100 |
[Coupling] |
YawPosFeedback=100 |
YawNegFeedback=10 |
/branches/salvo_gps/Basis_v0067g/trunk/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/trunk/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/trunk/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/trunk/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/trunk/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/trunk/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 |