/trunk/eeprom.c |
---|
221,6 → 221,8 |
EE_Parameter.AchsKopplung1 = 90; |
EE_Parameter.AchsKopplung2 = 55; |
EE_Parameter.FailsafeChannel = 0; |
EE_Parameter.ServoFilterNick = 0; |
EE_Parameter.ServoFilterRoll = 0; |
} |
/* |
void ParamSet_DefaultSet1(void) // sport |
/trunk/eeprom.h |
---|
4,7 → 4,7 |
#include <inttypes.h> |
#include "twimaster.h" |
#define EEPARAM_REVISION 89 // is count up, if paramater stucture has changed (compatibility) |
#define EEPARAM_REVISION 90 // is count up, if paramater stucture has changed (compatibility) |
#define EEMIXER_REVISION 1 // is count up, if mixer stucture has changed (compatibility) |
#define EEPROM_ADR_PARAM_BEGIN 0 |
226,6 → 226,8 |
unsigned char FailSafeTime; |
unsigned char MaxAltitude; |
unsigned char FailsafeChannel; // if the value of this channel is > 100, the MK reports "RC-Lost" |
unsigned char ServoFilterNick; |
unsigned char ServoFilterRoll; |
//------------------------------------------------ |
unsigned char BitConfig; // (war Loop-Cfg) Bitcodiert: 0x01=oben, 0x02=unten, 0x04=links, 0x08=rechts / wird getrennt behandelt |
unsigned char ServoCompInvert; // // 0x01 = Nick, 0x02 = Roll 0 oder 1 // WICHTIG!!! am Ende lassen |
/trunk/fc.c |
---|
588,9 → 588,15 |
CHK_POTI_MM(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
CHK_POTI_MM(Parameter_J16Timing,EE_Parameter.J16Timing,5,255); |
CHK_POTI_MM(Parameter_J17Timing,EE_Parameter.J17Timing,5,255); |
CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
CHK_POTI(Parameter_Servo5,EE_Parameter.Servo5); |
if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = 130; else Parameter_Servo3 = 80;} |
else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = 130; else Parameter_Servo3 = 80;} |
else CHK_POTI(Parameter_Servo3,EE_Parameter.Servo3); |
if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = 130; else Parameter_Servo4 = 80;} |
else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = 130; else Parameter_Servo4 = 80;} |
else CHK_POTI(Parameter_Servo4,EE_Parameter.Servo4); |
CHK_POTI(Parameter_HoehenSchalter,EE_Parameter.MaxHoehe); |
CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
CHK_POTI(Parameter_Hoehe_GPS_Z,EE_Parameter.Hoehe_GPS_Z); |
/trunk/libfc1284.a |
---|
Cannot display: file marked as a binary type. |
svn:mime-type = application/octet-stream |
/trunk/libfc644.a |
---|
Cannot display: file marked as a binary type. |
svn:mime-type = application/octet-stream |
/trunk/main.c |
---|
297,6 → 297,11 |
LIBFC_Polling(); |
if(!UpdateMotor) |
{ |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
if(NewSBusData) ProcessSBus(); |
else |
#endif |
{ |
if(CalculateServoSignals) CalculateServo(); |
DatenUebertragung(); |
408,7 → 413,8 |
Capacity_Update(); |
} //else DebugOut.Analog[26]++; |
} |
if(!SendSPI) { SPI_TransmitByte(); } |
} |
if(!SendSPI) { SPI_TransmitByte(); } |
} |
return (1); |
} |
/trunk/main.h |
---|
69,8 → 69,8 |
#include "libfc.h" |
#include "hottmenu.h" |
#include "debug.h" |
#include "sbus.h" |
#endif //_MAIN_H |
/trunk/makefile |
---|
6,7 → 6,7 |
#------------------------------------------------------------------- |
VERSION_MAJOR = 0 |
VERSION_MINOR = 87 |
VERSION_PATCH = 2 |
VERSION_PATCH = 3 |
VERSION_SERIAL_MAJOR = 11 # Serial Protocol |
VERSION_SERIAL_MINOR = 0 # Serial Protocol |
NC_SPI_COMPATIBLE = 29 # Navi-Kompatibilität |
/trunk/sbus.c |
---|
0,0 → 1,147 |
/*####################################################################################### |
Decodes the sbus protocol |
#######################################################################################*/ |
#include "sbus.h" |
#include "main.h" |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
unsigned char NewSBusData = 0, sBusBuffer[25]; |
//############################################################################ |
// USART1 initialisation from killagreg |
void SbusUartInit(void) |
//############################################################################ |
{ |
// -- Start of USART1 initialisation for Spekturm seriell-mode |
// USART1 Control and Status Register A, B, C and baud rate register |
uint8_t sreg = SREG; |
uint16_t ubrr = (uint16_t) ((uint32_t) SYSCLK/(8 * 100000) - 1); |
// disable all interrupts before reconfiguration |
cli(); |
// disable RX-Interrupt |
UCSR1B &= ~(1 << RXCIE1); |
// disable TX-Interrupt |
UCSR1B &= ~(1 << TXCIE1); |
// disable DRE-Interrupt |
UCSR1B &= ~(1 << UDRIE1); |
// set direction of RXD1 and TXD1 pins |
// set RXD1 (PD2) as an input pin |
PORTD |= (1 << PORTD2); |
DDRD &= ~(1 << DDD2); |
// set TXD1 (PD3) as an output pin |
PORTD |= (1 << PORTD3); |
DDRD |= (1 << DDD3); |
// USART0 Baud Rate Register |
// set clock divider |
UBRR1H = (uint8_t)(ubrr>>8); |
UBRR1L = (uint8_t)ubrr; |
// enable double speed operation |
UCSR1A |= (1 << U2X1); |
// enable receiver and transmitter |
//UCSR1B = (1<<RXEN1)|(1<<TXEN1); |
UCSR1B = (1<<RXEN1); |
// set asynchronous mode |
UCSR1C &= ~(1 << UMSEL11); |
UCSR1C &= ~(1 << UMSEL10); |
// parity |
UCSR1C <= (1 << UPM11); // even |
UCSR1C &= ~(1 << UPM10); |
// stop bit |
UCSR1C |= (1 << USBS1); // two |
// 8-bit |
UCSR1B &= ~(1 << UCSZ12); |
UCSR1C |= (1 << UCSZ11); |
UCSR1C |= (1 << UCSZ10); |
// flush receive buffer explicit |
while(UCSR1A & (1<<RXC1)) UDR1; |
// enable RX-interrupts at the end |
UCSR1B |= (1 << RXCIE1); |
// -- End of USART1 initialisation |
// restore global interrupt flags |
SREG = sreg; |
return; |
} |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
#define MIN_FRAMEGAP 68 // 7ms |
#define MAX_BYTEGAP 3 // 310us |
//############################################################################ |
// Is called by the uart interrupt |
//############################################################################ |
void SbusParser(unsigned char udr) |
{ |
static unsigned char ptr = 0; |
if(!SpektrumTimer && udr == 0x0f) // wait for the start |
{ |
ptr = 0; |
} |
else |
{ |
if(++ptr == 24) // last byte |
{ |
NewSBusData = 1; |
} |
else |
if(ptr > 24) ptr = 25; |
else |
{ |
sBusBuffer[ptr] = udr; // collect all bytes |
} |
} |
SpektrumTimer = 100; // 10ms gap |
} |
void ProcessSBus(void) |
{ |
static unsigned char load = 0; |
unsigned char bitmask8 = 1, sbyte = 2, i, index = 1, process; |
unsigned int bitmask11 = 256; |
signed int signal = 0,tmp; |
if(!(sBusBuffer[23] & 4)) // This Bit contains the 'Signal loss' |
{ |
TIMSK1 &= ~_BV(ICIE1); // disable PPM-Input |
if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
{ |
if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200; |
} |
signal = sBusBuffer[1]; |
if(!load--) { process = (12*11 - 8); load = 2;} else process = (4*11 - 8); // lowers the processor load |
for(i = 0; i < process; i++) // collect the single bits |
{ |
if(sBusBuffer[sbyte] & bitmask8) signal |= bitmask11; |
bitmask8 *= 2; |
if(!bitmask8) |
{ |
bitmask8 = 1; |
sbyte++; |
} |
bitmask11 *= 2; |
if(bitmask11 == 2048) |
{ |
bitmask11 = 1; |
signal = (signal-1024) / 5; // the resolution is higher than required |
tmp = (3 * (PPM_in[index]) + signal) / 4; |
if(tmp > signal+1) tmp--; else |
if(tmp < signal-1) tmp++; |
if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
else PPM_diff[index] = 0; |
PPM_in[index] = tmp; |
signal = 0; |
index++; // next channel |
} |
} |
NewPpmData = 0; // Null bedeutet: Neue Daten |
} |
NewSBusData = 0; |
} |
#endif |
/trunk/sbus.h |
---|
0,0 → 1,11 |
#ifndef _SBUS_H |
#define _SBUS_H |
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
extern unsigned char NewSBusData, sBusBuffer[25]; |
extern void SbusParser(unsigned char); |
extern void SbusUartInit(void); |
extern void ProcessSBus(void); |
#endif |
#endif |
/trunk/timer0.c |
---|
212,7 → 212,7 |
{ // inverting movement of servo |
nick = ServoNickOffset / 16 - nick; |
} |
if(Parameter_UserParam1) ServoNickValue = ((ServoNickValue * Parameter_UserParam1) + nick) / (Parameter_UserParam1 + 1); |
if(EE_Parameter.ServoFilterNick) ServoNickValue = ((ServoNickValue * EE_Parameter.ServoFilterNick) + nick) / (EE_Parameter.ServoFilterNick + 1); |
else ServoNickValue = nick; |
// limit servo value to its parameter range definition |
if(ServoNickValue < ((int16_t)EE_Parameter.ServoNickMin * MULTIPLYER) ) |
239,7 → 239,7 |
{ // inverting movement of servo |
roll = ServoRollOffset / 16 - roll; |
} |
if(Parameter_UserParam2) ServoRollValue = ((ServoRollValue * Parameter_UserParam2) + roll) / (Parameter_UserParam2 + 1); |
if(EE_Parameter.ServoFilterRoll) ServoRollValue = ((ServoRollValue * EE_Parameter.ServoFilterRoll) + roll) / (EE_Parameter.ServoFilterRoll + 1); |
else ServoRollValue = roll; |
// limit servo value to its parameter range definition |
if(ServoRollValue < ((int16_t)EE_Parameter.ServoRollMin * MULTIPLYER) ) |
/trunk/uart.c |
---|
18,8 → 18,8 |
#define BL_CTRL_ADDRESS 5 |
#define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
#define MAX_SENDE_BUFF 170 |
#define MAX_EMPFANGS_BUFF 170 |
#define MAX_SENDE_BUFF 175 |
#define MAX_EMPFANGS_BUFF 175 |
#define BLPARAM_REVISION 1 |
#define MASK_SET_PWM_SCALING 0x01 |
/trunk/version.txt |
---|
533,5 → 533,8 |
- Höhenwert auf cm kalibriert (zeigte ca. 10% zu viel an) |
- Neue Error-Codes: "No SD-Card", "Flying range!" und "Error SD-Logging" |
- Wenn die Motoren aus sind, den Luftduckwert langsam nachführen |
- das einfache sbus-protokoll implementiert (nur FC2.1) |
- das sbus-protokoll implementiert (nur FC2.1) |
- Schaltkanal auf Servo-Ausgang |
- Filter auf den Ausgängen der Servos |