| /beta/Code Redesign killagreg/analog.c |
|---|
| 219,6 → 219,7 |
| static int32_t filtergyronick, filtergyroroll; |
| static int32_t tmpAirPressure = 0; |
| static uint8_t AirPressCount = 0; |
| static int8_t Sub_AdBiasAccTop = 0; |
| // state machine |
| switch(state++) |
| 263,8 → 264,13 |
| { |
| if(AdBiasAccTop < 750) |
| { |
| AdBiasAccTop += 0.02; |
| if(ModelIsFlying < 500) AdBiasAccTop += 0.1; |
| Sub_AdBiasAccTop += 2; |
| if(ModelIsFlying < 500) Sub_AdBiasAccTop += 10; |
| if(Sub_AdBiasAccTop > 100) |
| { |
| Sub_AdBiasAccTop -= 100; |
| AdBiasAccTop++; |
| } |
| } |
| } |
| else if(AdValueAccTop < -1) |
| 271,8 → 277,14 |
| { |
| if(AdBiasAccTop > 550) |
| { |
| AdBiasAccTop -= 0.02; |
| if(ModelIsFlying < 500) AdBiasAccTop -= 0.1; |
| Sub_AdBiasAccTop -= 2; |
| if(ModelIsFlying < 500) Sub_AdBiasAccTop -= 10; |
| if(Sub_AdBiasAccTop < 100) |
| { |
| Sub_AdBiasAccTop += 100; |
| AdBiasAccTop--; |
| } |
| } |
| } |
| // averaging acc |
| /beta/Code Redesign killagreg/capacity.c |
|---|
| 115,8 → 115,8 |
| else // motors are stopped |
| { // determine offsets of motor currents |
| Capacity.ActualCurrent = 0; |
| #define CURRENT_AVERAGE 256L // 256 * 10 ms = 2.56s average time |
| CurrentOffset = (uint16_t)(SumCurrentOffset/CURRENT_AVERAGE); |
| #define CURRENT_AVERAGE 8 // 8bit = 256 * 10 ms = 2.56s average time |
| CurrentOffset = (uint16_t)(SumCurrentOffset>>CURRENT_AVERAGE); |
| SumCurrentOffset -= CurrentOffset; |
| SumCurrentOffset += Current; |
| } |
| /beta/Code Redesign killagreg/fc.c |
|---|
| 93,7 → 93,7 |
| // neutral acceleration readings |
| int16_t AdBiasAccNick = 0, AdBiasAccRoll = 0; |
| volatile float AdBiasAccTop = 0; |
| volatile int16_t AdBiasAccTop = 0; |
| // the additive gyro rate corrections according to the axis coupling |
| int16_t TrimNick, TrimRoll; |
| 1407,7 → 1407,7 |
| DebugOut.Analog[3] = (10 * AccRoll) / ACC_DEG_FACTOR; // in 0.1 deg |
| DebugOut.Analog[4] = GyroYaw; |
| DebugOut.Analog[5] = ReadingHeight/5; |
| DebugOut.Analog[6] = (ReadingIntegralTop / 512); |
| DebugOut.Analog[6] = AdValueAccTop;//(ReadingIntegralTop / 512);//AdValueAccZ; |
| DebugOut.Analog[8] = CompassHeading; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = RC_Quality; |
| /beta/Code Redesign killagreg/fc.h |
|---|
| 85,7 → 85,7 |
| // bias values |
| extern int16_t BiasHiResGyroNick, BiasHiResGyroRoll, AdBiasGyroYaw; |
| extern int16_t AdBiasAccNick, AdBiasAccRoll; |
| extern volatile float AdBiasAccTop; |
| extern volatile int16_t AdBiasAccTop; |
| extern volatile int32_t ReadingIntegralTop; // calculated in analog.c |
| /beta/Code Redesign killagreg/jetimenu.c |
|---|
| 18,7 → 18,7 |
| #define JETIBOX_KEY_NONE 0x0F |
| #define JETIBOX_KEY_UNDEF 0x00 |
| #define JetiBox_printfxy(x,y,format, args...) { LIBFC_JetiBox_SetPos(y * 16 + x); _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);} |
| #define JetiBox_printfxy(x,y,format, args...) { LIBFC_JetiBox_SetPos((y) * 16 + x); _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);} |
| #define JetiBox_printf(format, args...) { _printf_P(&LIBFC_JetiBox_Putchar, PSTR(format) , ## args);} |
| // ----------------------------------------------------------- |
| /beta/Code Redesign killagreg/libfc.a |
|---|
| Cannot display: file marked as a binary type. |
| svn:mime-type = application/octet-stream |
| /beta/Code Redesign killagreg/main.c |
|---|
| 129,7 → 129,7 |
| if(print) |
| { |
| Beep(3, 200); |
| printf(" 3 Cells "); |
| printf(" 3 Cells "); |
| } |
| } |
| else // <= 13.0V |
| 138,7 → 138,7 |
| if(print) |
| { |
| Beep(4, 200); |
| printf(" 4 Cells "); |
| printf(" 4 Cells "); |
| } |
| } |
| } |
| 246,11 → 246,11 |
| if(ParamSet.Config0 & CFG0_AIRPRESS_SENSOR) |
| { |
| printf("\n\rCalibrating air pressure sensor.."); |
| printf("\n\rCalibrating air pressure sensor."); |
| timer = SetDelay(1000); |
| SearchAirPressureOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| printf("ok\n\r"); |
| } |
| #ifdef USE_NAVICTRL |
| 422,6 → 422,7 |
| } |
| #endif |
| } |
| return (1); |
| } |
| /beta/Code Redesign killagreg/main.h |
|---|
| 18,6 → 18,7 |
| extern uint16_t FlightMinutes, FlightMinutesTotal; |
| void LipoDetection(uint8_t print); |
| #endif //_MAIN_H |
| /beta/Code Redesign killagreg/makefile |
|---|
| 104,8 → 104,8 |
| # 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 = 2 |
| #OPT = s |
| #OPT = 2 |
| OPT = s |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| 159,6 → 159,11 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| # shrink code size |
| CFLAGS += -mtiny-stack |
| #CFLAGS += -fno-inline-functions |
| CFLAGS += -mcall-prologues |
| CFLAGS += -DF_CPU=$(F_CPU) -DVERSION_MAJOR=$(VERSION_MAJOR) -DVERSION_MINOR=$(VERSION_MINOR) -DVERSION_PATCH=$(VERSION_PATCH) -DVERSION_SERIAL_MAJOR=$(VERSION_SERIAL_MAJOR) -DVERSION_SERIAL_MINOR=$(VERSION_SERIAL_MINOR) -DNC_SPI_COMPATIBLE=$(NC_SPI_COMPATIBLE) |
| ifeq ($(EXT), MK3MAG) |
| 271,6 → 276,7 |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| LIMITS = $(SIZE) --mcu=atmega644 -C $(TARGET).elf |
| # Define Messages |
| # English |
| 326,10 → 332,10 |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); $(LIMITS); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); $(LIMITS); echo; fi |
| /beta/Code Redesign killagreg/menu.c |
|---|
| 67,7 → 67,7 |
| uint8_t MenuItem = 0; |
| int8_t DisplayBuff[DISPLAYBUFFSIZE] = "Hello World"; |
| int8_t DisplayBuff[DISPLAYBUFFSIZE]; |
| uint8_t DispPtr = 0; |
| 86,6 → 86,8 |
| void Menu_Update(uint8_t Keys) |
| { |
| uint8_t i, j; |
| if(Keys & KEY1) |
| { |
| if(MenuItem) MenuItem--; |
| 96,22 → 98,15 |
| if(MenuItem == MaxMenuItem) MenuItem = 0; |
| else MenuItem++; |
| } |
| if((Keys & KEY1) && (Keys & KEY2)) MenuItem = 0; |
| Menu_Clear(); |
| if(MenuItem > MaxMenuItem) MenuItem = MaxMenuItem; |
| // print menu item number in the upper right corner |
| if(MenuItem < 10) |
| { |
| LCD_printfxy(17,0,"[%i]",MenuItem); |
| } |
| else |
| { |
| LCD_printfxy(16,0,"[%i]",MenuItem); |
| } |
| if(MenuItem < 10) i=17; |
| else i=16; |
| LCD_printfxy(i,0,"[%i]",MenuItem); |
| switch(MenuItem) |
| { |
| 121,7 → 116,7 |
| LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name); |
| if(I2CTimeout < 6) |
| { |
| LCD_printfxy(0,3,"I2C Error!!!"); |
| LCD_printfxy(0,3,"I2C Error!"); |
| } |
| else if (MissingMotor) |
| { |
| 141,59 → 136,58 |
| { |
| LCD_printfxy(0,0,"Height Control"); |
| LCD_printfxy(0,1,"DISABLED"); |
| LCD_printfxy(0,2,"Height Control"); |
| LCD_printfxy(0,3,"DISABLED"); |
| } |
| break; |
| case 2:// Attitude Menu Item |
| LCD_printfxy(0,0,"Attitude"); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralGyroNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralGyroRoll/1024); |
| LCD_printfxy(0,3,"Heading: %5i",CompassHeading); |
| LCD_printfxy(0,1,"Nick: %5i",IntegralGyroNick/1024); |
| LCD_printfxy(0,2,"Roll: %5i",IntegralGyroRoll/1024); |
| LCD_printfxy(0,3,"Hdg: %5i",CompassHeading); |
| break; |
| case 3:// Remote Control Channel Menu Item |
| LCD_printfxy(0,0,"C1:%4i C2:%4i ",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"C3:%4i C4:%4i ",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"C5:%4i C6:%4i ",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"C7:%4i C8:%4i ",PPM_in[7],PPM_in[8]); |
| LCD_printfxy(0,0,"C1:%4i C2:%4i",PPM_in[1],PPM_in[2]); |
| LCD_printfxy(0,1,"C3:%4i C4:%4i",PPM_in[3],PPM_in[4]); |
| LCD_printfxy(0,2,"C5:%4i C6:%4i",PPM_in[5],PPM_in[6]); |
| LCD_printfxy(0,3,"C7:%4i C8:%4i",PPM_in[7],PPM_in[8]); |
| break; |
| case 4:// Remote Control Mapping Menu Item |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Ya:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + RC_GAS_OFFSET,PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + RC_GAS_OFFSET, PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + RC_POTI_OFFSET); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + RC_POTI_OFFSET, PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + RC_POTI_OFFSET); |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i",PPM_in[ParamSet.ChannelAssignment[CH_NICK]],PPM_in[ParamSet.ChannelAssignment[CH_ROLL]]); |
| LCD_printfxy(0,1,"Gs:%4i Ya:%4i",PPM_in[ParamSet.ChannelAssignment[CH_GAS]] + RC_GAS_OFFSET,PPM_in[ParamSet.ChannelAssignment[CH_YAW]]); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i",PPM_in[ParamSet.ChannelAssignment[CH_POTI1]] + RC_GAS_OFFSET, PPM_in[ParamSet.ChannelAssignment[CH_POTI2]] + RC_POTI_OFFSET); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i",PPM_in[ParamSet.ChannelAssignment[CH_POTI3]] + RC_POTI_OFFSET, PPM_in[ParamSet.ChannelAssignment[CH_POTI4]] + RC_POTI_OFFSET); |
| break; |
| case 5:// Gyro Sensor Menu Item |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| switch(BoardRelease) |
| { |
| case 10: |
| LCD_printfxy(0,1,"Nick %4i(%3i.%i)",AdValueGyroNick - BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,2,"Roll %4i(%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,3,"Yaw %4i(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw); |
| break; |
| case 11: |
| case 12: |
| case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i(%3i.%i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i(%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2); |
| case 10: |
| LCD_printfxy(0,1,"Nick %4i(%3i.%i)",AdValueGyroNick - BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / HIRES_GYRO_AMPLIFY, BiasHiResGyroNick % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,2,"Roll %4i(%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll % HIRES_GYRO_AMPLIFY); |
| LCD_printfxy(0,3,"Yaw %4i(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw); |
| break; |
| case 13: |
| default: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroNick); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroRoll); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2, DacOffsetGyroYaw ); |
| break; |
| case 11: |
| case 12: |
| case 20: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i(%3i.%i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i(%3i.%i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2)) / 2); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2); |
| break; |
| case 13: |
| default: // divice Offests by 2 becuse 2 samples are added in adc isr |
| LCD_printfxy(0,1,"Nick %4i (%3i.%i)(%3i)",AdValueGyroNick - BiasHiResGyroNick/HIRES_GYRO_AMPLIFY, BiasHiResGyroNick / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroNick % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroNick); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,2,"Roll %4i (%3i.%i)(%3i)",AdValueGyroRoll - BiasHiResGyroRoll/HIRES_GYRO_AMPLIFY, BiasHiResGyroRoll / (HIRES_GYRO_AMPLIFY * 2), (BiasHiResGyroRoll % (HIRES_GYRO_AMPLIFY * 2))/2, DacOffsetGyroRoll); // division by 2 to push the reminder below 10 (15/2 = 7) |
| LCD_printfxy(0,3,"Yaw %4i (%3i)(%3i)",AdBiasGyroYaw - AdValueGyroYaw , AdBiasGyroYaw/2, DacOffsetGyroYaw ); |
| break; |
| } |
| break; |
| case 6:// Acceleration Sensor Menu Item |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i(%3i)",AdValueAccNick/2, AdBiasAccNick/2); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,2,"Roll %4i(%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,3,"Z %4i(%3i)",AdValueAccTop, (int16_t)AdBiasAccTop); |
| LCD_printfxy(0,1,"Nick %4i(%3i)",AdValueAccNick/2, AdBiasAccNick/2); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,2,"Roll %4i(%3i)",AdValueAccRoll/2, AdBiasAccRoll/2); // factor 2 because of adding 2 samples in ADC ISR |
| LCD_printfxy(0,3,"Z %4i(%3i)",AdValueAccTop, AdBiasAccTop); |
| break; |
| case 7://Discharge |
| LCD_printfxy(0,0,"Battery"); |
| 226,30 → 220,37 |
| LCD_printfxy(0,3,"Poti8: %3i" ,Poti[7]); |
| break; |
| case 12:// Servo Menu Item |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,0,"Servo" ); |
| LCD_printfxy(0,1,"Setpoint %3i",FCParam.ServoNickControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoNickValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",ParamSet.ServoNickMin, ParamSet.ServoNickMax); |
| break; |
| case 13://Extern Control |
| LCD_printfxy(0,0,"ExternControl " ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i ",ExternControl.Nick, ExternControl.Roll); |
| LCD_printfxy(0,2,"Gs:%4i Ya:%4i ",ExternControl.Gas, ExternControl.Yaw); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i ",ExternControl.Height, ExternControl.Config); |
| LCD_printfxy(0,0,"ExternControl" ); |
| LCD_printfxy(0,1,"Ni:%4i Ro:%4i",ExternControl.Nick, ExternControl.Roll); |
| LCD_printfxy(0,2,"Gs:%4i Ya:%4i",ExternControl.Gas, ExternControl.Yaw); |
| LCD_printfxy(0,3,"Hi:%4i Cf:%4i",ExternControl.Height, ExternControl.Config); |
| break; |
| case 14://BL Communication errors |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| LCD_printfxy(0,1," %3d %3d %3d %3d ",Motor[0].State & MOTOR_STATE_ERROR_MASK,Motor[1].State & MOTOR_STATE_ERROR_MASK,Motor[2].State & MOTOR_STATE_ERROR_MASK,Motor[3].State & MOTOR_STATE_ERROR_MASK); |
| LCD_printfxy(0,2," %3d %3d %3d %3d ",Motor[4].State & MOTOR_STATE_ERROR_MASK,Motor[5].State & MOTOR_STATE_ERROR_MASK,Motor[6].State & MOTOR_STATE_ERROR_MASK,Motor[7].State & MOTOR_STATE_ERROR_MASK); |
| LCD_printfxy(0,3," %3d %3d %3d %3d ",Motor[8].State & MOTOR_STATE_ERROR_MASK,Motor[9].State & MOTOR_STATE_ERROR_MASK,Motor[10].State & MOTOR_STATE_ERROR_MASK,Motor[11].State & MOTOR_STATE_ERROR_MASK); |
| LCD_printfxy(0,0,"BL-Ctrl Errors" ); |
| for(i = 0; i < 3; i++) |
| { |
| j=i<<2; |
| LCD_printfxy(0,1+i," %3d %3d %3d %3d ",Motor[j].State & MOTOR_STATE_ERROR_MASK,Motor[1+j].State & MOTOR_STATE_ERROR_MASK,Motor[2+j].State & MOTOR_STATE_ERROR_MASK,Motor[3+j].State & MOTOR_STATE_ERROR_MASK); |
| } |
| break; |
| case 15://BL Overview |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| LCD_printfxy(0,1," %c %c %c %c ",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7)); |
| LCD_printfxy(0,2," %c %c %c %c ",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7)); |
| LCD_printfxy(0,3," %c - - - ",'-' + 12 * (Motor[8].State>>7)); |
| LCD_printfxy(0,0,"BL-Ctrl found" ); |
| for(i = 0; i < 2; i++) |
| { |
| j=i<<2; |
| LCD_printfxy(0,i+1," %c %c %c %c",'-' + 4 * (Motor[j].State>>7),'-' + 5 * (Motor[1+j].State>>7),'-' + 6 * (Motor[2+j].State>>7),'-' + 7 * (Motor[3+j].State>>7)); |
| } |
| //LCD_printfxy(0,1," %c %c %c %c",'-' + 4 * (Motor[0].State>>7),'-' + 5 * (Motor[1].State>>7),'-' + 6 * (Motor[2].State>>7),'-' + 7 * (Motor[3].State>>7)); |
| //LCD_printfxy(0,2," %c %c %c %c",'-' + 8 * (Motor[4].State>>7),'-' + 9 * (Motor[5].State>>7),'-' + 10 * (Motor[6].State>>7),'-' + 11 * (Motor[7].State>>7)); |
| LCD_printfxy(0,3," %c - - -",'-' + 12 * (Motor[8].State>>7)); |
| if(Motor[9].State>>7) LCD_printfxy(4,3,"10"); |
| if(Motor[10].State>>7) LCD_printfxy(8,3,"11"); |
| if(Motor[11].State>>7) LCD_printfxy(12,3,"12"); |
| 256,7 → 257,7 |
| break; |
| case 16:// flight time counter |
| LCD_printfxy(0,0,"Flight-Time " ); |
| LCD_printfxy(0,0,"Flight-Time"); |
| LCD_printfxy(0,1,"Total:%5u min",FlightMinutesTotal); |
| LCD_printfxy(0,2,"Trip: %5u min",FlightMinutes); |
| LCD_printfxy(13,3,"(reset)"); |
| /beta/Code Redesign killagreg/menu.h |
|---|
| 6,7 → 6,7 |
| #define DISPLAYBUFFSIZE 80 |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = y * 20 + x; _printf_P(&Menu_Putchar, PSTR(format) , ## args);} |
| #define LCD_printfxy(x,y,format, args...) { DispPtr = (y) * 20 + x; _printf_P(&Menu_Putchar, PSTR(format) , ## args);} |
| #define LCD_printf(format, args...) { _printf_P(&Menu_Putchar, PSTR(format) , ## args);} |
| #define KEY1 0x01 |
| /beta/Code Redesign killagreg/mymath.c |
|---|
| 40,40 → 40,3 |
| return (c_sin_8192(90 - angle)); |
| } |
| // Arcustangens returns degree in a range of +/. 180 deg |
| const uint8_t pgm_atanlookup[346] PROGMEM = {0,1,2,3,4,4,5,6,7,8,9,10,11,11,12,13,14,15,16,17,17,18,19,20,21,21,22,23,24,24,25,26,27,27,28,29,29,30,31,31,32,33,33,34,35,35,36,36,37,37,38,39,39,40,40,41,41,42,42,43,43,44,44,45,45,45,46,46,47,47,48,48,48,49,49,50,50,50,51,51,51,52,52,52,53,53,53,54,54,54,55,55,55,55,56,56,56,57,57,57,57,58,58,58,58,59,59,59,59,60,60,60,60,60,61,61,61,61,62,62,62,62,62,63,63,63,63,63,63,64,64,64,64,64,64,65,65,65,65,65,65,66,66,66,66,66,66,66,67,67,67,67,67,67,67,68,68,68,68,68,68,68,68,69,69,69,69,69,69,69,69,69,70,70,70,70,70,70,70,70,70,71,71,71,71,71,71,71,71,71,71,71,72,72,72,72,72,72,72,72,72,72,72,73,73,73,73,73,73,73,73,73,73,73,73,73,73,74,74,74,74,74,74,74,74,74,74,74,74,74,74,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,75,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,76,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,77,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,78,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79,79}; |
| int16_t c_atan2(int16_t y, int16_t x) |
| { |
| int16_t index, angle; |
| int8_t m; |
| if (!x && !y) return 0; //atan2(0, 0) is undefined |
| if (y < 0) m = -1; |
| else m = 1; |
| if (!x) return (90 * m); // atan2(y,0) = +/- 90 deg |
| index = (int16_t)(((int32_t)y * 64) / x);// calculate index for lookup table |
| if (index < 0) index = -index; |
| if (index < 346) angle = pgm_read_byte(&pgm_atanlookup[index]); // lookup for 0 deg to 79 deg |
| else if (index > 7334) angle = 90; // limit is 90 deg |
| else if (index > 2444) angle = 89; // 89 deg to 80 deg is mapped via intervalls |
| else if (index > 1465) angle = 88; |
| else if (index > 1046) angle = 87; |
| else if (index > 813) angle = 86; |
| else if (index > 664) angle = 85; |
| else if (index > 561) angle = 84; |
| else if (index > 486) angle = 83; |
| else if (index > 428) angle = 82; |
| else if (index > 382) angle = 81; |
| else angle = 80; // (index>345) |
| if (x > 0) return (angle * m); // 1st and 4th quadrant |
| else if ((x < 0) && (m > 0)) return (180 - angle); // 2nd quadrant |
| else return (angle - 180); // ( (x < 0) && (y < 0)) 3rd quadrant |
| } |
| /beta/Code Redesign killagreg/spi.h |
|---|
| 115,7 → 115,6 |
| uint8_t SatFix; // type of satfix |
| uint16_t HomeDistance; // distance to Home in dm |
| int16_t HomeBearing; // bearing to home in deg |
| } __attribute__((packed)) GPSInfo_t; |
| extern GPSInfo_t GPSInfo; |