• MikroKopter.de
• Wiki
• SHOP
• Datenschutz
• Impressum

FlightCtrlBL-CtrlMK3MagNaviCtrlProjects

Català-Valencià – Catalan中文 – Chinese (Simplified)中文 – Chinese (Traditional)Česky – CzechDansk – DanishNederlands – DutchEnglish – EnglishSuomi – FinnishFrançais – FrenchDeutsch – Germanעברית – Hebrewहिंदी – HindiMagyar – HungarianBahasa Indonesia – IndonesianItaliano – Italian日本語 – Japanese한국어 – KoreanМакедонски – Macedonianमराठी – MarathiNorsk – NorwegianPolski – PolishPortuguês – PortuguesePortuguês – Portuguese (Brazil)Русский – RussianSlovenčina – SlovakSlovenščina – SlovenianEspañol – SpanishSvenska – SwedishTürkçe – TurkishУкраїнська – UkrainianOëzbekcha – Uzbek

Compare Revisions

• This comparison shows the changes necessary to convert path

  → / @ 1230

  → / @ 1231

  ↔ Reverse comparison

• Compare Path:	Rev

  With Path:	Rev

Ignore whitespace Rev 1230 → Rev 1231

/trunk/makefile
4,12 → 4,12
F_CPU = 20000000
#-------------------------------------------------------------------
VERSION_MAJOR = 0
VERSION_MINOR = 74
VERSION_PATCH = 3
VERSION_MINOR = 75
VERSION_PATCH = 0
VERSION_SERIAL_MAJOR = 10 # Serial Protocol
VERSION_SERIAL_MINOR = 1 # Serial Protocol
NC_SPI_COMPATIBLE = 6 # Navi-Kompatibilität
NC_SPI_COMPATIBLE = 7 # Navi-Kompatibilität
#-------------------------------------------------------------------
ifeq ($(MCU), atmega32)

/trunk/spi.c
256,13 → 256,27
switch (FromNaviCtrl.Command)
{
case SPI_KALMAN:
FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.Byte[0];
FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.Byte[1];
FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.Byte[2];
FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
break;
case SPI_KALMAN:
FromNaviCtrl_Value.Kalman_K = FromNaviCtrl.Param.sByte[0];
FromNaviCtrl_Value.Kalman_MaxFusion = FromNaviCtrl.Param.sByte[1];
FromNaviCtrl_Value.Kalman_MaxDrift = FromNaviCtrl.Param.sByte[2];
FromNaviCtrl_Value.SerialDataOkay = FromNaviCtrl.Param.Byte[3];
break;
case SPI_EXTCTRL:
ExternControl.Digital[0] = FromNaviCtrl.Param.Byte[0];
ExternControl.Digital[1] = FromNaviCtrl.Param.Byte[1];
ExternControl.RemoteTasten = FromNaviCtrl.Param.Byte[2];
ExternControl.Nick = FromNaviCtrl.Param.sByte[3];
ExternControl.Roll = FromNaviCtrl.Param.sByte[4];
ExternControl.Gier = FromNaviCtrl.Param.sByte[5];
ExternControl.Gas = FromNaviCtrl.Param.Byte[6];
ExternControl.Hight = FromNaviCtrl.Param.sByte[7];
ExternControl.free = FromNaviCtrl.Param.Byte[8];
ExternControl.Frame = FromNaviCtrl.Param.Byte[9];
ExternControl.Config = FromNaviCtrl.Param.Byte[10];
break;
default:
break;
}

/trunk/spi.h
58,43 → 58,47
struct str_ToNaviCtrl
{
unsigned char Sync1, Sync2;
unsigned char Command;
signed int IntegralNick;
signed int IntegralRoll;
signed int AccNick;
signed int AccRoll;
signed int GyroCompass;
signed int GyroNick;
signed int GyroRoll;
signed int GyroGier;
union
{ char Byte[12];
int Int[6];
long Long[3];
float Float[3];
} Param;
unsigned char Chksum;
unsigned char Sync1, Sync2;
unsigned char Command;
signed int IntegralNick;
signed int IntegralRoll;
signed int AccNick;
signed int AccRoll;
signed int GyroCompass;
signed int GyroNick;
signed int GyroRoll;
signed int GyroGier;
union
{
char sByte[12];
unsigned char Byte[12];
int Int[6];
long Long[3];
float Float[3];
} Param;
unsigned char Chksum;
};
#define SPI_KALMAN 103
#define SPI_KALMAN 103
#define SPI_EXTCTRL 104
struct str_FromNaviCtrl
{
unsigned char Command;
signed int GPS_Nick;
signed int GPS_Roll;
signed int GPS_Gier;
signed int CompassValue;
signed int Status;
unsigned int BeepTime;
union
{ char Byte[12];
int Int[6];
long Long[3];
float Float[3];
} Param;
unsigned char Chksum;
unsigned char Command;
signed int GPS_Nick;
signed int GPS_Roll;
signed int GPS_Gier;
signed int CompassValue;
signed int Status;
unsigned int BeepTime;
union
{
char sByte[12];
unsigned char Byte[12];
int Int[6];
long Long[3];
float Float[3];
} Param;
unsigned char Chksum;
};
struct str_FromNaviCtrl_Value

/trunk/version.txt
254,5 → 254,6
0.74d
- Die Driftkompensation ist jetzt dreistufig -> 0,5% pro sekunde zusätzlich eingeführt
0.75a G.Stobrawa 22.5.2009
- Extern Control also received from NC via SPI