| /branches/salvo_gierkompass/GPS.c |
|---|
| 1,30 → 1,211 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /* |
| 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 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/>. |
| Please note: All the other files for the project "Mikrokopter" by H.Buss are under the licencse published by www.mikrokopter.de |
| */ |
| /*++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Peter Muehlenbrock |
| Auswertung der Daten vom GPS im ublox Format |
| Regelung fuer GPS noch nicht implementiert |
| Stand 10.9.2007 |
| ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| */ |
| #include "main.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; |
| long GpsAktuell_X = 0; |
| long GpsAktuell_Y = 0; |
| long GpsZiel_X = 0; |
| long GpsZiel_Y = 0; |
| void GPS_Neutral(void) |
| static uint8_t ublox_msg_state = UBLOX_IDLE; |
| static uint8_t chk_a =0; //Checksum |
| static uint8_t chk_b =0; |
| static unsigned int rx_len; |
| unsigned int cnt0,cnt1,cnt2; //******Provisorisch |
| static unsigned int ptr_payload_data_end; |
| static uint8_t *ptr_payload_data; |
| static uint8_t *ptr_pac_status; |
| 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_POSITION_t gps_act_position; // Alle wichtigen Daten zusammengefasst |
| void GPS_Neutral(void) // Initialisierung |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| ublox_msg_state = UBLOX_IDLE; |
| actual_pos.status= 0; |
| actual_speed.status= 0; |
| actual_status.status= 0; |
| } |
| void GPS_BerechneZielrichtung(void) |
| void Get_GPS_data(void) // Daten aus aktuellen ublox Messages extrahieren |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| if (actual_pos.status == 0) return; //damit es schnell geht, wenn nix zu tun ist |
| if ((actual_pos.status > 0) && (actual_status.status > 0) && (actual_speed.status > 0)) |
| { |
| cnt1++; //**** noch Rausschmeissen |
| if ((actual_status.gpsfix_type & 0x0f) >=2) // nur wenn Daten aktuell sind |
| { |
| 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; |
| gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| gps_act_position.speed_gnd = actual_speed.speed_gnd/10; |
| gps_act_position.heading = actual_speed.heading/100000; |
| gps_act_position.status = 1; |
| } |
| actual_pos.status = 0; |
| actual_status.status = 0; |
| actual_speed.status = 0; |
| } |
| } |
| /* |
| 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; |
| } |
| } |
| /branches/salvo_gierkompass/fc.c |
|---|
| 311,8 → 311,8 |
| EE_Parameter.Luftdruck_D = 70; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 30; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 8; //8 // Wert : 0-64 |
| EE_Parameter.Stick_P = 2; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 4; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| 321,7 → 321,7 |
| EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 100; // Wert : 0-250 |
| EE_Parameter.NotGas = 80; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGas = 90; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 50; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 5; |
| 354,7 → 354,7 |
| EE_Parameter.Luftdruck_D = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_ACC_Wirkung = 50; // Wert : 0-250 |
| EE_Parameter.Hoehe_Verstaerkung = 2; // Wert : 0-50 |
| EE_Parameter.Stick_P = 4; //2 // Wert : 1-6 |
| EE_Parameter.Stick_P = 2; //2 // Wert : 1-6 |
| EE_Parameter.Stick_D = 0; //8 // Wert : 0-64 |
| EE_Parameter.Gier_P = 16; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| 364,7 → 364,7 |
| EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 100; // Wert : 0-250 |
| EE_Parameter.NotGas = 80; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGas = 90; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 50; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 5; |
| 439,7 → 439,16 |
| static char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| Mittelwert(); |
| //******PROVISORISCH*************** |
| Get_GPS_data(); |
| if (gps_act_position.status > 0) |
| { |
| ROT_ON; |
| gps_act_position.status = 0; |
| // ROT_ON; |
| } |
| //******PROVISORISCH*************** |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 616,6 → 625,7 |
| GyroKomp_Int = 0; |
| } |
| ANALOG_ON; // ADC einschalten |
| ROT_OFF; |
| // Salvo End |
| IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| 819,11 → 829,20 |
| DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| DebugOut.Analog[7] = GasMischanteil; |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
| // ******provisorisch |
| DebugOut.Analog[9] = cnt1; |
| // DebugOut.Analog[10] = cnt1; |
| // DebugOut.Analog[11] = cnt2; |
| DebugOut.Analog[10] = (gps_act_position.utm_east/10) % 10000; |
| DebugOut.Analog[11] = (gps_act_position.utm_north/10) % 10000; |
| // ******provisorisch |
| /* |
| DebugOut.Analog[9] = GyroKomp_Int/GYROKOMP_INC_GRAD_DEFAULT; |
| DebugOut.Analog[10] = GyroKomp_Int2/GYROKOMP_INC_GRAD_DEFAULT; |
| DebugOut.Analog[11] = GyroKomp_Inc_Grad; |
| DebugOut.Analog[12] = GyroKomp_Value; |
| */ |
| // DebugOut.Analog[9] = SollHoehe; |
| // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| // DebugOut.Analog[11] = KompassStartwert; |
| /branches/salvo_gierkompass/flight_ctrl.aps |
|---|
| 1,0 → 0,0 |
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| /branches/salvo_gierkompass/gps.h |
|---|
| 1,4 → 1,66 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Peter Muehlenbrock |
| // Definitionen fuer Modul GPS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| extern void Get_Ublox_Msg(uint8_t rx) ; |
| extern void Get_GPS_data(void); |
| 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_POSITION_t; |
| /* |
| extern NAV_VELNED_t actual_speed; |
| extern NAV_STATUS_t actual_status; |
| extern NAV_POSUTM_t actual_position; |
| */ |
| extern GPS_POSITION_t gps_act_position; |
| extern unsigned int cnt0,cnt1,cnt2; |
| /branches/salvo_gierkompass/main.c |
|---|
| 172,7 → 172,7 |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| // ROT_OFF; |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| /branches/salvo_gierkompass/makefile |
|---|
| 4,7 → 4,7 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 05 |
| NEBEN_VERSION = 06 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| /branches/salvo_gierkompass/menu.c |
|---|
| 37,7 → 37,7 |
| { |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| // LCD_printfxy(0,1,"V%d.%d",VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| LCD_printfxy(0,2,"Setting: %d ",GetActiveParamSetNumber()); |
| LCD_printfxy(0,3,"(c) Holger Buss"); |
| // if(RemoteTasten & KEY3) TestInt--; |
| 115,4 → 115,4 |
| break; |
| } |
| RemoteTasten = 0; |
| } |
| } |
| /branches/salvo_gierkompass/timer0.c |
|---|
| 7,7 → 7,7 |
| volatile unsigned int beeptime = 0; |
| int ServoValue = 0; |
| //Salvo 8.9.2007 |
| volatile unsigned int Kompass_Neuer_Wert= 0; |
| volatile uint8_t Kompass_Neuer_Wert= 0; |
| volatile unsigned int Kompass_Value_Old = 0; |
| // Salvo End |
| enum { |
| 143,7 → 143,7 |
| if(ServoValue < EE_Parameter.ServoNickMin) ServoValue = EE_Parameter.ServoNickMin; |
| else if(ServoValue > EE_Parameter.ServoNickMax) ServoValue = EE_Parameter.ServoNickMax; |
| DebugOut.Analog[10] = ServoValue; |
| // DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| /branches/salvo_gierkompass/timer0.h |
|---|
| 17,7 → 17,7 |
| extern volatile unsigned int cntKompass; |
| extern int ServoValue; |
| //Salvo 8.9.2007 |
| extern volatile unsigned int Kompass_Neuer_Wert; |
| //Salvo 9.9.2007 |
| extern volatile uint8_t Kompass_Neuer_Wert; |
| extern volatile unsigned int Kompass_Value_Old; |
| // Salvo End |
| /branches/salvo_gierkompass/uart.c |
|---|
| 57,8 → 57,10 |
| 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) |
| { |
| /branches/salvo_gierkompass |
|---|
| Property changes: |
| Modified: svn:ignore |
| Flight-Ctrl_MEGA644_V0_60.lss |
| *.map |
| *.hex |
| +Flight-Ctrl_MEGA644_V0_06.elf |
| +Flight-Ctrl_MEGA644_V0_06.hex |
| +Flight-Ctrl_MEGA644_V0_06.lss |
| +Flight-Ctrl_MEGA644_V0_06.map |
| +Flight-Ctrl_MEGA644_V0_06.sym |
| +Flight-Ctrl_MEGA644_V0_06.eep |
| +*.chm |