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| /trunk/GPS.c |
|---|
| 1,5 → 1,5 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) Holger Buss, Ingo Busker |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| 8,9 → 8,23 |
| signed int GPS_Nick = 0; |
| signed int GPS_Roll = 0; |
| unsigned char GPS_Aid_StickMultiplikator = 0; // 64 = 100% |
| long GpsAktuell_X = 0; |
| long GpsAktuell_Y = 0; |
| long GpsZiel_X = 0; |
| long GpsZiel_Y = 0; |
| void GPS_Neutral(void) |
| { |
| GpsZiel_X = GpsAktuell_X; |
| GpsZiel_Y = GpsAktuell_Y; |
| } |
| void GPS_BerechneZielrichtung(void) |
| { |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| } |
| /trunk/Hex-Files/Flight-Ctrl_MEGA1284p_V2_22a.hex |
|---|
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|---|
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|---|
| 0,0 → 1,1407 |
| :100000000C94C1010C94DC010C94DC010C94DC0117 |
| :100010000C94DC010C94DC010C94DC010C94DC01EC |
| :100020000C94DC010C94DC010C94DC010C94920A1D |
| :100030000C944F130C94DC010C94DC010C94DC0147 |
| :100040000C94DC010C94DC010C94C2090C94DC01CE |
| :100050000C949C030C94DC010C9466030C94DC015E |
| :100060000C94C90A0C94DC010C946E120C94DC0103 |
| :100070000A0D466C69676874436F6E74726F6C200A |
| :100080005625642E256420000A0D3D3D3D3D3D3D35 |
| :100090003D3D3D3D3D3D3D3D3D3D3D3D3D3D3D3D90 |
| :1000A0003D3D3D3D3D3D3D3D000A0D496E69742E8F |
| :1000B00020454550524F4D3A2047656E657269653F |
| :1000C00072652044656661756C742D506172616D56 |
| :1000D000657465722E2E2E000A0D42656E75747A57 |
| :1000E0006520506172616D657465727361747A2008 |
| :1000F0002564000A0D4162676C65696368204C7570 |
| :100100006674647275636B73656E736F722E2E0006 |
| :100110004F4B0A0D000A0D537465756572756E6755 |
| :100120003A200048656164696E67486F6C64004EF0 |
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| /trunk/Hex-Files/BrushLess-Ctrl_16kHz_ADR2_V0_31.hex |
|---|
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| /trunk/Hex-Files/BrushLess-Ctrl_16kHz_ADR3_V0_31.hex |
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| /trunk/Hex-Files/Flight-Ctrl_MEGA644_V0_60.hex |
|---|
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| :1057A000649FE00DF11D929FF00D839FF00D749F9B |
| :1057B000F00D659FF00D9927729FB00DE11DF91F47 |
| :1057C000639FB00DE11DF91FBD01CF0111240895A4 |
| :1057D000AA1BBB1B51E107C0AA1FBB1FA617B70717 |
| :1057E00010F0A61BB70B881F991F5A95A9F7809533 |
| :1057F0009095BC01CD01089597FB092E07260AD08C |
| :1058000077FD04D0E5DF06D000201AF4709561958D |
| :105810007F4F0895F6F7909581959F4F0895A1E2E7 |
| :105820001A2EAA1BBB1BFD010DC0AA1FBB1FEE1F1A |
| :10583000FF1FA217B307E407F50720F0A21BB30B65 |
| :10584000E40BF50B661F771F881F991F1A9469F7E1 |
| :1058500060957095809590959B01AC01BD01CF013D |
| :10586000089597FB092E05260ED057FD04D0D7DFEB |
| :105870000AD0001C38F450954095309521953F4F43 |
| :105880004F4F5F4F0895F6F790958095709561950D |
| :105890007F4F8F4F9F4F0895F999FECFB2BDA1BDA5 |
| :1058A000F89A119600B40895F999FECFB2BDA1BD42 |
| :1058B00000BC11960FB6F894FA9AF99A0FBE0895A3 |
| :1058C0006401010AFF03007D0000640048616C6C04 |
| :1058D0006F2057656C74000000000000000000009D |
| :1058E00000000000000000000000000000000000B8 |
| :1058F00000000000000000000000000000000000A8 |
| :105900000000000000000000000000000000000097 |
| :10591000000000000000000000000000010203047D |
| :1059200005060708090A0A01640A029632403A107D |
| :10593000FB3017B7D1380000803F4E6F726D616C3D |
| :0A59400000004B616D65726100000C |
| :00000001FF |
| /trunk/Hex-Files/WasIstWas.txt |
|---|
| 1,14 → 1,22 |
| +++++++++++++++++++++++++ |
| + Flight-Ctrl: |
| +++++++++++++++++++++++++ |
| BootLoader_MEGA644_20MHZ_V0_1.hex |
| Der Bootloader wird per ISP eingespielt |
| Der Bootloader nur dann eingespielt werden, wenn noch nie ein Bootloader eingespielt wurde! |
| Danach können Softwareupdates seriell eingespielt werden. |
| Flight-Ctrl_MEGA1284_Vx_yy.hex |
| Flight-Ctrl_MEGA644_Vx_yy.hex |
| Flight-Ctrl_MEGA644_Vx_yy.hex |
| Aktuelle Firmware |
| Wird per serielle Schnittstelle (durch den Bootloader) eingespielt |
| Achtung: Die Programme für den ATMEGA1284 dürfen ausschliesslich per Bootloader, also seriell (MKUSB) eingespielt werden und NICHT per ISP |
| Warning: do not program the ATMEGA1284 (FC2.1) via SPI. Only use the MKUSB and the Koptertool for update! |
| Flight-Ctrl SW > 0.60 benötigt das Kopter-Tool >1.45 |
| +++++++++++++++++++++++++ |
| + BL-Ctrl: |
| +++++++++++++++++++++++++ |
| BrushLess-Ctrl_16kHz_ADRq_Vx_yy.hex |
| Firmware für den BL-Regler |
| Jeder Regler benötigt die Software mit seiner eigenen Adresse |
| /trunk/License.txt |
|---|
| 1,52 → 1,52 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // + 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // + 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 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // + 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /trunk/_Settings.h |
|---|
| 0,0 → 1,50 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Testmodi |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define MOTOR_OFF 0 |
| #define MOTOR_TEST 0 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Abstimmung |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ACC_AMPLIFY 16 |
| #define FAKTOR_P 1 |
| #define FAKTOR_I 0.0001 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debug-Interface |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define SIO_DEBUG 1 // Soll der Debugger aktiviert sein? |
| #define MIN_DEBUG_INTERVALL 250 // in diesem Intervall werden Degugdaten ohne Aufforderung gesendet |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Sender |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define K_NICK 0 |
| #define K_ROLL 1 |
| #define K_GAS 2 |
| #define K_GIER 3 |
| #define K_POTI1 4 |
| #define K_POTI2 5 |
| #define K_POTI3 6 |
| #define K_POTI4 7 |
| // +++++++++++++++++++++++++++++++ |
| // + Getestete Settings: |
| // +++++++++++++++++++++++++++++++ |
| // Setting: Kamera |
| // Stick_P:3 |
| // Stick_D:0 |
| // Gyro_P: 175 |
| // Gyro_I: 175 |
| // Ki_Anteil: 10 |
| // +++++++++++++++++++++++++++++++ |
| // + Getestete Settings: |
| // +++++++++++++++++++++++++++++++ |
| // Setting: Normal |
| // Stick_P:2 |
| // Stick_D:8 |
| // Gyro_P: 80 |
| // Gyro_I: 150 |
| // Ki_Anteil: 5 |
| /trunk/analog.c |
|---|
| 1,412 → 1,155 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "eeprom.h" |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 150; |
| volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
| volatile int HiResNick = 2500, HiResRoll = 2500; |
| volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
| int LuftdruckTemperaturOffset = 0; |
| volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
| volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
| volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
| volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile long LuftdruckKompensiert = 32000; |
| volatile long SummenHoehe = 0; |
| volatile long StartLuftdruck; |
| volatile int StartLuftdruck; |
| volatile unsigned int MessLuftdruck = 1023; |
| unsigned char DruckOffsetSetting; |
| signed char ExpandBaro = 0; |
| volatile int VarioMeter = 0; |
| volatile int HoeheD = 0; |
| volatile char messanzahl_Druck; |
| volatile int tmpLuftdruck; |
| volatile unsigned int ZaehlMessungen = 0; |
| unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
| volatile unsigned char AdReady = 1; |
| unsigned int BaroStep = 500; |
| long ExpandBaroStep = 0; |
| long HoehenWertF = 0; |
| long HoehenWert_Mess = 0; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| long HoehenWertF_Mess = 0; |
| unsigned char CalAthmospheare = 16*8; |
| unsigned char AD_ACC_Y = 6; |
| unsigned char AD_ACC_X = 7; |
| #endif |
| //####################################################################################### |
| // |
| void ADC_Init(void) |
| //####################################################################################### |
| { |
| { |
| ADMUX = 0;//Referenz ist extern |
| ANALOG_ON; |
| ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
| //Free Running Mode, Division Factor 128, Interrupt on |
| } |
| #define DESIRED_H_ADC 800 |
| void CalcCalAthmospheare(int off) |
| { |
| // re-claibrated from 16 to 15 at 2.09 -> the baro-Altimeter was about 7% too high |
| CalAthmospheare = 124; //15*8; |
| if(ACC_AltitudeControl) |
| { |
| if(PlatinenVersion < 23) { if(off < 140) CalAthmospheare += (8*(160 - off)) / 26; } |
| // else { if(off < 170) CalAthmospheare += (188 - off) / 19; } |
| // else { if(off < 188) CalAthmospheare += (8*(188 - off)) / 15; } // rescaled at 2.09 |
| else { if(off < 188) CalAthmospheare += (8*(188 - off)) / 21; } // rescaled at 2.21 |
| } |
| } |
| void CalcExpandBaroStep(void) |
| { |
| if(ACC_AltitudeControl) ExpandBaroStep = BaroStep * (long)ExpandBaro; |
| else ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4; |
| //if(PlatinenVersion >= 23) CalcCalAthmospheare(OCR0A); //--> noch nicht im Flug getestet |
| } |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| ExpandBaro = 0; |
| CalcExpandBaroStep(); |
| off = GetParamByte(PID_PRESSURE_OFFSET); |
| if(off < 240) off += 10; |
| for(off=0; off < 250;off++) |
| { |
| OCR0A = off; |
| OCR0B = 255-off; |
| Delay_ms_Mess(150); |
| if(MessLuftdruck > DESIRED_H_ADC) off = 240; |
| for(; off > 5; off--) |
| { |
| OCR0A = off; |
| OCR0B = 255-off; |
| Delay_ms_Mess(100); |
| printf("."); |
| if(MessLuftdruck > DESIRED_H_ADC) break; |
| } |
| Delay_ms(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| DruckOffsetSetting = off; |
| SetParamByte(PID_PRESSURE_OFFSET, off); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 230)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + correction of the altitude error in higher altitudes |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| CalcCalAthmospheare(off); |
| Luftdruck = (MessLuftdruck * CalAthmospheare)/8; |
| LuftdruckKompensiert = Luftdruck + LuftdruckTemperaturOffset; |
| #endif |
| Delay_ms_Mess(300); |
| Delay_ms(200); |
| } |
| /* |
| void SucheGyroOffset(void) |
| { |
| unsigned char i, ready = 0; |
| int timeout; |
| timeout = SetDelay(2000); |
| for(i=140; i != 0; i--) |
| { |
| if(ready == 3 && i > 10) i = 9; |
| ready = 0; |
| if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
| if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
| if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
| if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;}; |
| if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;}; |
| if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 245;}; |
| while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
| AdReady = 0; |
| ANALOG_ON; |
| while(!AdReady); |
| if(i<10) Delay_ms_Mess(10); |
| } |
| Delay_ms_Mess(70); |
| } |
| */ |
| /* |
| 0 n |
| 1 r |
| 2 g |
| 3 y |
| 4 x |
| 5 n |
| 6 r |
| 7 u |
| 8 z |
| 9 L |
| 10 n |
| 11 r |
| 12 g |
| 13 y |
| 14 x |
| 15 n |
| 16 r |
| 17 L |
| */ |
| //####################################################################################### |
| // |
| ISR(ADC_vect) |
| SIGNAL(SIG_ADC) |
| //####################################################################################### |
| { |
| static unsigned char kanal=0,state = 0; |
| static signed int subcount = 0; |
| static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
| static signed int accy, accx; |
| static long tmpLuftdruck = 0; |
| static char messanzahl_Druck = 0; |
| signed int wert; |
| ANALOG_OFF; |
| switch(state++) |
| { |
| case 0: |
| nick1 = ADC; |
| kanal = AD_ROLL; |
| wert = (signed int) AdNeutralGier - ADC; |
| AccumulateGier += wert; // |
| MessanzahlGier++; |
| Mess_Integral_Gier += wert;// / 16; |
| Mess_Integral_Gier2 += wert; |
| kanal = 1; |
| ZaehlMessungen++; |
| break; |
| case 1: |
| roll1 = ADC; |
| kanal = AD_GIER; |
| wert = (signed int) ADC - AdNeutralRoll; |
| Mess_IntegralRoll += wert; |
| Mess_IntegralRoll2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateRoll += wert; |
| MessanzahlRoll++; |
| kanal = 2; |
| break; |
| case 2: |
| gier1 = ADC; |
| kanal = AD_ACC_Y; |
| wert = (signed int) ADC - AdNeutralNick; |
| Mess_IntegralNick += wert; |
| Mess_IntegralNick2 += wert; |
| if(ADC < 10) wert = -700; |
| if(ADC > 1000) wert = +700; |
| AccumulateNick += wert; |
| MessanzahlNick++; |
| kanal = 4; |
| break; |
| case 3: |
| Aktuell_ay = NeutralAccY - ADC; |
| accy = Aktuell_ay; |
| kanal = AD_ACC_X; |
| UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| kanal = 6; |
| break; |
| case 4: |
| Aktuell_ax = ADC - NeutralAccX; |
| accx = Aktuell_ax; |
| kanal = AD_NICK; |
| Aktuell_ay = NeutralAccY - ADC; |
| accumulate_AccRoll += Aktuell_ay; |
| messanzahl_AccRoll++; |
| kanal = 7; |
| break; |
| case 5: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| Aktuell_ay = ADC - NeutralAccX; |
| accumulate_AccNick += Aktuell_ay; |
| messanzahl_AccNick++; |
| kanal = 5; |
| state = 6; |
| break; |
| case 6: |
| roll1 += ADC; |
| kanal = AD_UBAT; |
| accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
| accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| if(accumulate_AccHoch > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(accumulate_AccHoch < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Aktuell_az = ADC; |
| Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
| /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| kanal = 3; |
| state = 7; |
| } |
| else |
| { |
| kanal = 0; |
| state = 0; |
| }*/ |
| kanal = 3; |
| state = 7; |
| break; |
| case 7: |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference |
| else |
| #endif |
| { |
| static unsigned int tmpVoltage = 0; |
| if(!tmpVoltage) tmpVoltage = (10 * ADC); |
| if(tmpVoltage <= (10 * ADC)) tmpVoltage += 2; else tmpVoltage -= 2; |
| UBat = tmpVoltage / 31; |
| } |
| kanal = AD_ACC_Z; |
| tmpLuftdruck += ADC; |
| if(++messanzahl_Druck >= 5) |
| { |
| MessLuftdruck = ADC; |
| messanzahl_Druck = 0; |
| HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| kanal = 0; |
| state = 0; |
| break; |
| case 8: |
| Aktuell_az = ADC; |
| AdWertAccHoch = Aktuell_az - NeutralAccZ - (int) NeutralAccZfine; |
| if(!ACC_AltitudeControl) // The Offset must be corrected, because of the ACC-Drift from vibrations |
| { |
| if(AdWertAccHoch > 1) |
| { |
| if(NeutralAccZ < 750) |
| { |
| subcount += 5; |
| if(modell_fliegt < 500) subcount += 10; |
| if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
| } |
| } |
| else if(AdWertAccHoch < -1) |
| { |
| if(NeutralAccZ > 550) |
| { |
| subcount -= 5; |
| if(modell_fliegt < 500) subcount -= 10; |
| if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
| } |
| } |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| else |
| if(CosAttitude > 8192 - 50) // horizontal leveled within 6° |
| { |
| if(AdWertAccHoch > 1) |
| { |
| if(++subcount > 5000) |
| { |
| if(NeutralAccZfine < 6) NeutralAccZfine++; |
| subcount -= 5000; |
| } |
| } |
| else |
| if(AdWertAccHoch < -1) |
| { |
| if(--subcount < -5000) |
| { |
| if(NeutralAccZfine > -6) NeutralAccZfine--; |
| subcount += 5000; |
| } |
| } |
| } |
| #endif |
| Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| kanal = AD_DRUCK; |
| break; |
| // "case 9:" fehlt hier absichtlich |
| case 10: |
| nick1 += ADC; |
| kanal = AD_ROLL; |
| break; |
| case 11: |
| roll1 += ADC; |
| kanal = AD_GIER; |
| break; |
| case 12: |
| /* if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
| else |
| if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
| else AdWertGier = (ADC + gier1); |
| */ |
| AdWertGier = 2047 - (ADC + gier1); |
| kanal = AD_ACC_Y; |
| break; |
| case 13: |
| Aktuell_ay = NeutralAccY - ADC; |
| AdWertAccRoll = (Aktuell_ay + accy); |
| kanal = AD_ACC_X; |
| break; |
| case 14: |
| Aktuell_ax = ADC - NeutralAccX; |
| AdWertAccNick = (Aktuell_ax + accx); |
| kanal = AD_NICK; |
| break; |
| case 15: |
| nick1 += ADC; |
| //if(PlatinenVersion == 10) nick1 *= 2; else |
| nick1 *= 4; |
| AdWertNick = nick1 / 8; |
| nick_filter = (nick_filter + nick1) / 2; |
| HiResNick = nick_filter - AdNeutralNick; |
| AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
| kanal = AD_ROLL; |
| break; |
| case 16: |
| roll1 += ADC; |
| //if(PlatinenVersion == 10) roll1 *= 2; else |
| roll1 *= 4; |
| AdWertRoll = roll1 / 8; |
| roll_filter = (roll_filter + roll1) / 2; |
| HiResRoll = roll_filter - AdNeutralRoll; |
| AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
| kanal = AD_DRUCK; |
| break; |
| case 17: |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(ACC_AltitudeControl) |
| { |
| HoehenWertF_Mess = (ACC_AltitudeFusion(0) + SA_FILTER/2)/SA_FILTER; // cm |
| } |
| else HoehenWertF_Mess = HoehenWert; |
| #endif |
| default: |
| kanal = 0; |
| state = 0; |
| AdReady = 1; |
| ZaehlMessungen++; |
| // "break" fehlt hier absichtlich |
| case 9: |
| MessLuftdruck = ADC; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(ACC_AltitudeControl) |
| { |
| tmpLuftdruck = MessLuftdruck - ExpandBaroStep; // -523 counts per offset step |
| if(BaroExpandActive) |
| { |
| if(BaroExpandActive < 10) Luftdruck = (tmpLuftdruck * CalAthmospheare)/8; |
| } |
| else |
| { |
| Luftdruck -= (8*Luftdruck) / CalAthmospheare; // 16 |
| Luftdruck += tmpLuftdruck; |
| LuftdruckKompensiert = Luftdruck + LuftdruckTemperaturOffset; |
| HoehenWert_Mess = StartLuftdruck - LuftdruckKompensiert; // cm |
| } |
| } |
| else |
| #endif |
| { // old version (until FC V2.1) |
| tmpLuftdruck += MessLuftdruck; |
| if(++messanzahl_Druck >= 16) // war bis 0.86 "18" |
| { |
| signed int tmp; |
| Luftdruck = (7 * Luftdruck + tmpLuftdruck - ExpandBaroStep) / 8; // -523.19 counts per 10 counts offset step |
| HoehenWert_Mess = StartLuftdruck - Luftdruck; |
| SummenHoehe -= SummenHoehe/SM_FILTER; |
| SummenHoehe += HoehenWert_Mess; |
| tmp = (HoehenWert_Mess - SummenHoehe/SM_FILTER); |
| if(tmp > 1024) tmp = 1024; else if(tmp < -1024) tmp = -1024; |
| if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16; |
| else VarioMeter = (31 * VarioMeter + 8 * tmp)/32; |
| tmpLuftdruck /= 2; |
| messanzahl_Druck = 16/2; |
| LuftdruckKompensiert = Luftdruck; |
| } |
| } |
| kanal = AD_NICK; |
| break; |
| default: |
| kanal = 0; state = 0; kanal = AD_NICK; |
| break; |
| } |
| } |
| ADMUX = kanal; |
| if(state != 0) ANALOG_ON; |
| ANALOG_ON; |
| } |
| /trunk/analog.h |
|---|
| 1,62 → 1,23 |
| #ifndef _ANALOG_H |
| #define _ANALOG_H |
| /*####################################################################################### |
| #######################################################################################*/ |
| #define SM_FILTER 16 |
| #define SA_FILTER 512 |
| extern volatile int UBat; |
| extern volatile int AdWertNick, AdWertRoll, AdWertGier; |
| extern volatile int AdWertAccRoll,AdWertAccNick,AdWertAccHoch; |
| extern volatile int HiResNick, HiResRoll; |
| extern volatile int AdWertNickFilter, AdWertRollFilter, AdWertGierFilter; |
| extern volatile int AccumulateNick, AccumulateRoll, AccumulateGier,accumulate_AccRoll,accumulate_AccNick,accumulate_AccHoch; |
| extern volatile char MessanzahlNick, MessanzahlRoll, MessanzahlGier,messanzahl_AccNick, messanzahl_AccRoll,messanzahl_AccHoch; |
| extern volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az; |
| extern volatile long Luftdruck; |
| extern volatile long LuftdruckKompensiert; |
| extern volatile long SummenHoehe; |
| extern volatile char messanzahl_Druck; |
| extern volatile unsigned int ZaehlMessungen; |
| extern unsigned char DruckOffsetSetting; |
| extern signed char ExpandBaro; |
| extern volatile int VarioMeter; |
| extern volatile int HoeheD; |
| extern volatile unsigned int MessLuftdruck; |
| extern volatile long StartLuftdruck; |
| extern volatile char MessanzahlNick; |
| extern unsigned char AnalogOffsetNick,AnalogOffsetRoll,AnalogOffsetGier; |
| extern volatile unsigned char AdReady; |
| extern unsigned int BaroStep; |
| extern long HoehenWertF; |
| extern long HoehenWert_Mess; |
| extern long HoehenWertF_Mess; |
| extern int LuftdruckTemperaturOffset; |
| unsigned int ReadADC(unsigned char adc_input); |
| void ADC_Init(void); |
| void SucheLuftruckOffset(void); |
| //void SucheGyroOffset(void); |
| void CalcExpandBaroStep(void); |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| extern unsigned char CalAthmospheare; |
| #endif |
| extern volatile int StartLuftdruck; |
| #define AD_GIER 0 |
| #define AD_ROLL 1 |
| #define AD_NICK 2 |
| #define AD_DRUCK 3 |
| #define AD_UBAT 4 |
| #define AD_ACC_Z 5 |
| extern unsigned int ReadADC(unsigned char adc_input); |
| extern void ADC_Init(void); |
| extern void SucheLuftruckOffset(void); |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| extern unsigned char AD_ACC_Y; |
| extern unsigned char AD_ACC_X; |
| #else |
| #define AD_ACC_Y 6 |
| #define AD_ACC_X 7 |
| #endif |
| #define ANALOG_OFF ADCSRA=0 |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| //Signle trigger Mode, Interrupt on |
| #endif //_ANALOG_H |
| #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| /trunk/eeprom.c |
|---|
| File deleted |
| /trunk/fc.c |
|---|
| 2,140 → 2,103 |
| Flight Control |
| #######################################################################################*/ |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // + 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 werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // + 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" |
| #include "mymath.h" |
| #include "isqrt.h" |
| unsigned char h,m,s; |
| unsigned int BaroExpandActive = 0; |
| int MesswertNick,MesswertRoll,MesswertGier,RohMesswertNick,RohMesswertRoll; |
| int TrimNick, TrimRoll; |
| int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0,StartNeutralRoll = 0,StartNeutralNick = 0; |
| int BoatNeutralNick = 0,BoatNeutralRoll = 0,BoatNeutralGier = 0; |
| int LastFlightNeutralNick = 0,LastFlightNeutralRoll = 0,LastFlightNeutralGier = 0; |
| int Mittelwert_AccNick, Mittelwert_AccRoll; |
| unsigned int NeutralAccX=0, NeutralAccY=0; |
| int NaviAccNick, NaviAccRoll,NaviCntAcc = 0; |
| int NeutralAccZ = 0; |
| signed char NeutralAccZfine = 0; |
| unsigned char ControlHeading = 0;// in 2° |
| long IntegralNick = 0; |
| long IntegralRoll = 0; |
| long Integral_Gier = 0; |
| long Mess_IntegralNick = 0; |
| long Mess_IntegralRoll = 0; |
| long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| long MittelIntegralNick,MittelIntegralRoll; |
| long SummeNick=0,SummeRoll=0; |
| volatile unsigned char Timeout = 0; |
| volatile int MesswertNick,MesswertRoll,MesswertGier; |
| volatile int AdNeutralNick = 0,AdNeutralRoll = 0,AdNeutralGier = 0; |
| volatile int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch, NeutralAccX=0, NeutralAccY=0; |
| volatile float NeutralAccZ = 0; |
| unsigned char CosinusNickWinkel = 0, CosinusRollWinkel = 0; |
| volatile long IntegralNick = 0,IntegralNick2 = 0; |
| volatile long IntegralRoll = 0,IntegralRoll2 = 0; |
| volatile long Integral_Gier = 0; |
| volatile long Mess_IntegralNick = 0,Mess_IntegralNick2 = 0; |
| volatile long Mess_IntegralRoll = 0,Mess_IntegralRoll2 = 0; |
| volatile long Mess_Integral_Gier = 0,Mess_Integral_Gier2 = 0; |
| volatile long Mess_Integral_Hoch = 0; |
| int KompassValue = -1; |
| int KompassSollWert = 0; |
| int NC_CompassSetpoint = -1; |
| //int KompassRichtung = 0; |
| char CalculateCompassTimer = 100; |
| unsigned char KompassFusion = 32; |
| unsigned int KompassSignalSchlecht = 50; |
| unsigned char MAX_GAS,MIN_GAS; |
| volatile int KompassValue = 0; |
| volatile int KompassStartwert = 0; |
| volatile int KompassRichtung = 0; |
| unsigned char MAX_GAS,MIN_GAS; |
| unsigned char Notlandung = 0; |
| unsigned char HoehenReglerAktiv = 0; |
| unsigned char TrichterFlug = 0; |
| long Umschlag180Nick = 250000L, Umschlag180Roll = 250000L; |
| long ErsatzKompass; |
| int ErsatzKompassInGrad, CompassCorrected, OrientationCompassCorrected; // Kompasswert in Grad |
| int GierGyroFehler = 0; |
| char GyroFaktor,GyroFaktorGier; |
| char IntegralFaktor,IntegralFaktorGier; |
| int DiffNick,DiffRoll; |
| unsigned int StickGasHover = 127; |
| int HoverGasMin = 0, HoverGasMax = 1023; |
| int StickNick = 0,StickRoll = 0,StickGier = 0,StickGas = 0; |
| //int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0, Poti5 = 0, Poti6 = 0, Poti7 = 0, Poti8 = 0; |
| unsigned char Poti[9] = {0,0,0,0,0,0,0,0}; |
| float GyroFaktor; |
| float IntegralFaktor; |
| volatile int DiffNick,DiffRoll; |
| int Poti1 = 0, Poti2 = 0, Poti3 = 0, Poti4 = 0; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay = 0; |
| unsigned char ReceiverOkay = 0; // either RC or ExternalControl |
| char MotorenEin = 0,StartTrigger = 0; |
| long HoehenWert = 0; |
| long SollHoehe = 0; |
| signed int AltitudeSetpointTrimming = 0; |
| long FromNC_AltitudeSetpoint = 0; |
| unsigned char FromNC_AltitudeSpeed = 0; |
| unsigned char carefree_old = 50; // to make the Beep when switching |
| signed char WaypointTrimming = 0; |
| int CompassGierSetpoint = 0; |
| unsigned char CalibrationDone = 0; |
| char NeueKompassRichtungMerken = 0; |
| int LageKorrekturRoll = 0,LageKorrekturNick = 0, HoverGas = 0; |
| //float Ki = FAKTOR_I; |
| int Ki = 10300 / 33; |
| //unsigned char Looping_Nick = 0,Looping_Roll = 0; |
| //unsigned char Looping_Links = 0, Looping_Rechts = 0, Looping_Unten = 0, Looping_Oben = 0; |
| int StickNick = 0,StickRoll = 0,StickGier = 0; |
| char MotorenEin = 0; |
| int HoehenWert = 0; |
| int SollHoehe = 0; |
| float Kp = FAKTOR_P; |
| float Ki = FAKTOR_I; |
| unsigned char Parameter_Luftdruck_D = 48; // Wert : 0-250 |
| unsigned char Parameter_HoehenSchalter = 0; // Wert : 0-250 |
| unsigned char Parameter_GPS_Switch = 0; // Wert : 0-250 |
| unsigned char Parameter_CareFree_Switch = 0; // Wert : 0-250 |
| unsigned char Parameter_Autoland_Switch = 0; // Wert : 0-250 |
| unsigned char Parameter_MaxHoehe = 251; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_P = 16; // Wert : 0-32 |
| unsigned char Parameter_Hoehe_ACC_Wirkung = 58; // Wert : 0-250 |
| unsigned char Parameter_KompassWirkung = 64; // Wert : 0-250 |
| unsigned char Parameter_Hoehe_TiltCompensation = 100; // Wert : 0-250 |
| unsigned char Parameter_Gyro_D = 8; // Wert : 0-250 |
| unsigned char Parameter_Gyro_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_P = 50; // Wert : 10-250 |
| unsigned char Parameter_Gyro_I = 150; // Wert : 0-250 |
| unsigned char Parameter_Gyro_Gier_P = 150; // Wert : 10-250 |
| unsigned char Parameter_Gyro_Gier_I = 150; // Wert : 10-250 |
| unsigned char Parameter_Gier_P = 2; // Wert : 1-20 |
| unsigned char Parameter_I_Faktor = 10; // Wert : 1-20 |
| unsigned char Parameter_UserParam1 = 0; |
| 142,645 → 105,138 |
| unsigned char Parameter_UserParam2 = 0; |
| unsigned char Parameter_UserParam3 = 0; |
| unsigned char Parameter_UserParam4 = 0; |
| unsigned char Parameter_UserParam5 = 0; |
| unsigned char Parameter_UserParam6 = 0; |
| unsigned char Parameter_UserParam7 = 0; |
| unsigned char Parameter_UserParam8 = 0; |
| unsigned char Parameter_NickControl = 100; |
| unsigned char Parameter_ServoNickControl = 100; |
| unsigned char Parameter_ServoRollControl = 100; |
| unsigned char Parameter_ServoNickComp = 50; |
| unsigned char Parameter_ServoRollComp = 85; |
| unsigned char Parameter_LoopGasLimit = 70; |
| unsigned char Parameter_AchsKopplung1 = 90; |
| unsigned char Parameter_AchsKopplung2 = 65; |
| unsigned char Parameter_CouplingYawCorrection = 64; |
| //unsigned char Parameter_AchsGegenKopplung1 = 0; |
| unsigned char Parameter_DynamicStability = 100; |
| unsigned char Parameter_J16Bitmask; // for the J16 Output |
| unsigned char Parameter_J16Timing; // for the J16 Output |
| unsigned char Parameter_J17Bitmask; // for the J17 Output |
| unsigned char Parameter_J17Timing; // for the J17 Output |
| unsigned char Parameter_NaviGpsGain; |
| unsigned char Parameter_NaviGpsP; |
| unsigned char Parameter_NaviGpsI; |
| unsigned char Parameter_NaviGpsD; |
| unsigned char Parameter_NaviGpsA; |
| //unsigned char Parameter_NaviOperatingRadius; |
| unsigned char Parameter_NaviWindCorrection; |
| unsigned char Parameter_NaviSpeedCompensation; |
| unsigned char Parameter_ExternalControl; |
| unsigned char Parameter_GlobalConfig; |
| unsigned char Parameter_ExtraConfig; |
| unsigned char Parameter_MaximumAltitude; |
| unsigned char Parameter_LaserAltitude = 0; |
| unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| unsigned char CareFree = 0; |
| struct mk_param_struct EE_Parameter; |
| const signed char sintab[31] = { 0, 2, 4, 6, 7, 8, 8, 8, 7, 6, 4, 2, 0, -2, -4, -6, -7, -8, -8, -8, -7, -6, -4, -2, 0, 2, 4, 6, 7, 8, 8}; // 15° steps |
| int MaxStickNick = 0,MaxStickRoll = 0; |
| unsigned int modell_fliegt = 0; |
| volatile unsigned char FC_StatusFlags = 0, FC_StatusFlags2 = 0; |
| unsigned char FC_StatusFlags3 = 0; |
| long GIER_GRAD_FAKTOR = 1291; |
| signed int KopplungsteilNickRoll,KopplungsteilRollNick; |
| signed int tmp_motorwert[MAX_MOTORS]; |
| char VarioCharacter = ' '; |
| unsigned int HooverGasEmergencyPercent = 0; // The gas value for Emergency landing |
| unsigned int GasIsZeroCnt = 0; // to detect that the gas-stick is down for a while |
| signed int Variance = 0; |
| signed int CosAttitude; // for projection of hoover gas |
| unsigned char ACC_AltitudeControl = 0; |
| unsigned char LowVoltageLandingActive = 0; |
| unsigned char LowVoltageHomeActive = 0; |
| signed int DriftNick = 0, DriftRoll = 0; |
| unsigned char ServoFailsafeActive = 0; // moves Servos into the FS-Position |
| unsigned char Partner_StatusFlags = 0, Partner_StatusFlags2 = 0,Partner_StatusFlags3 = 0; |
| signed char BaroExpandCnt = 0; // needed to detect a defctive baro-sensor |
| signed long LaserAltitudeCorrection = 0; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #define OPA_OFFSET_STEP 5 |
| #else |
| #define OPA_OFFSET_STEP 10 |
| #endif |
| #define MAX_DRIFT_NR 40 |
| #define MAX_DRIFT_YAW 10 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void CopyDebugValues(void) |
| void Piep(unsigned char Anzahl) |
| { |
| DebugOut.Analog[0] = ToNaviCtrl.IntegralNick;//IntegralNick / (EE_Parameter.GyroAccFaktor * 4); |
| DebugOut.Analog[1] = ToNaviCtrl.IntegralRoll;//IntegralRoll / (EE_Parameter.GyroAccFaktor * 4); |
| DebugOut.Analog[2] = Mittelwert_AccNick / 4; |
| DebugOut.Analog[3] = Mittelwert_AccRoll / 4; |
| DebugOut.Analog[4] = (signed int) AdNeutralGier - AdWertGier; |
| DebugOut.Analog[5] = HoehenWert/10; |
| DebugOut.Analog[6] = Aktuell_az;//AdWertAccHoch;//(Mess_Integral_Hoch / 512); |
| DebugOut.Analog[8] = KompassValue; |
| DebugOut.Analog[9] = UBat; |
| DebugOut.Analog[10] = ReceiverOkay; |
| DebugOut.Analog[11] = ErsatzKompassInGrad; |
| DebugOut.Analog[12] = Motor[0].SetPoint; |
| DebugOut.Analog[13] = Motor[1].SetPoint; |
| DebugOut.Analog[14] = Motor[2].SetPoint; |
| DebugOut.Analog[15] = Motor[3].SetPoint; |
| DebugOut.Analog[20] = ServoNickValue; |
| DebugOut.Analog[21] = HoverGas; |
| DebugOut.Analog[22] = Capacity.ActualCurrent; |
| DebugOut.Analog[23] = Capacity.UsedCapacity; |
| DebugOut.Analog[24] = SollHoehe/10; |
| // DebugOut.Analog[27] = KompassSollWert; |
| DebugOut.Analog[29] = Capacity.MinOfMaxPWM; |
| DebugOut.Analog[30] = GPS_Nick; |
| DebugOut.Analog[31] = GPS_Roll; |
| if(VersionInfo.HardwareError[0] || VersionInfo.HardwareError[1]) DebugOut.Status[1] |= 1; else DebugOut.Status[1] &= 0xfe; |
| //DebugOut.Analog[16] = MinBlTemperture; |
| //DebugOut.Analog[17] = MaxBlTemperture; |
| //DebugOut.Analog[16] = Variance; |
| //DebugOut.Analog[17] = VarioMeter; |
| //DebugOut.Analog[16] = GasIsZeroCnt; |
| //DebugOut.Analog[25] = Parameter_Hoehe_P; |
| //DebugOut.Analog[26] = Parameter_Luftdruck_D; |
| } |
| void Piep(unsigned char Anzahl, unsigned int dauer) |
| { |
| unsigned int wait = 0; |
| unsigned char update_spi = 12; |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| GRN_OFF; |
| while(Anzahl--) |
| { |
| beeptime = dauer; |
| wait = dauer; |
| while(beeptime || wait) |
| { |
| if(UpdateMotor) |
| { |
| UpdateMotor = 0; |
| if(!beeptime) wait--; |
| LIBFC_Polling(); |
| update_spi--; |
| }; |
| if(update_spi == 0) // 41Hz |
| { |
| if(SPI_StartTransmitPacket()) update_spi = 12; |
| else |
| if(BytegapSPI == 0) SPI_TransmitByte(); |
| } |
| else if(BytegapSPI == 0) SPI_TransmitByte(); |
| } |
| if(MotorenEin) return; //auf keinen Fall im Flug! |
| beeptime = 100; |
| Delay_ms(250); |
| } |
| GRN_ON; |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| // if(PlatinenVersion == 13) SucheGyroOffset(); |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| MesswertNick = AdWertNick; |
| MesswertRoll = AdWertRoll; |
| MesswertGier = AdWertGier; |
| Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
| // ADC einschalten |
| ANALOG_ON; |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| } |
| void StoreNeutralToEeprom(void) |
| { |
| BoatNeutralNick = AdNeutralNick; |
| BoatNeutralRoll = AdNeutralRoll; |
| BoatNeutralGier = AdNeutralGier; |
| SetParamWord(PID_ACC_NICK, (uint16_t)NeutralAccX); |
| SetParamWord(PID_ACC_ROLL, (uint16_t)NeutralAccY); |
| SetParamWord(PID_GYRO_NICK,(uint16_t)BoatNeutralNick); |
| SetParamWord(PID_GYRO_ROLL,(uint16_t)BoatNeutralRoll); |
| SetParamWord(PID_GYRO_YAW,(uint16_t)BoatNeutralGier); |
| SetParamWord(EE_LAST_GYRO_NICK,(uint16_t)BoatNeutralNick); |
| SetParamWord(EE_LAST_GYRO_ROLL,(uint16_t)BoatNeutralRoll); |
| SetParamWord(EE_LAST_GYRO_YAW,(uint16_t)BoatNeutralGier); |
| } |
| void StoreLastDriftcompensation(void) |
| { |
| int last_nick,last_roll,last_yaw; |
| last_nick = AdNeutralNick; |
| last_roll = AdNeutralRoll; |
| last_yaw = AdNeutralGier; |
| if(last_nick > BoatNeutralNick + MAX_DRIFT_NR) last_yaw = BoatNeutralNick + MAX_DRIFT_NR; |
| if(last_nick < BoatNeutralNick - MAX_DRIFT_NR) last_yaw = BoatNeutralNick - MAX_DRIFT_NR; |
| if(last_roll > BoatNeutralRoll + MAX_DRIFT_NR) last_roll = BoatNeutralRoll + MAX_DRIFT_NR; |
| if(last_roll < BoatNeutralRoll - MAX_DRIFT_NR) last_roll = BoatNeutralRoll - MAX_DRIFT_NR; |
| if(last_yaw > BoatNeutralGier + MAX_DRIFT_YAW) last_yaw = BoatNeutralGier + MAX_DRIFT_YAW; |
| if(last_yaw < BoatNeutralGier - MAX_DRIFT_YAW) last_yaw = BoatNeutralGier - MAX_DRIFT_YAW; |
| SetParamWord(EE_LAST_GYRO_NICK,(uint16_t)last_nick); |
| SetParamWord(EE_LAST_GYRO_ROLL,(uint16_t)last_roll); |
| SetParamWord(EE_LAST_GYRO_YAW,(uint16_t)last_yaw); |
| } |
| //############################################################################ |
| // Nullwerte ermitteln |
| // Parameter: 0 -> after switch on (ignore ACC-Z fault) |
| // Parameter: 1 -> before Start |
| // Parameter: 2 -> calibrate and store ACC |
| // Parameter: 3 -> use stored Gyro calibration Data from EEPROM (Boat-Mode) |
| unsigned char SetNeutral(unsigned char AdjustmentMode) // retuns: "sucess" |
| void SetNeutral(void) |
| //############################################################################ |
| { |
| unsigned char i, sucess = 1, lastgyrovalid = 1, boatvalid = 1; |
| unsigned int gier_neutral = 0, nick_neutral = 0, roll_neutral = 0, acc_z_neutral = 0, barotest; |
| VersionInfo.HardwareError[0] = 0; |
| // HEF4017Reset_ON; |
| NeutralAccX = 0; |
| unsigned int timer; |
| NeutralAccX = 0; |
| NeutralAccY = 0; |
| NeutralAccZ = 0; |
| NeutralAccZfine = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralNick = 0; |
| AdNeutralRoll = 0; |
| AdNeutralGier = 0; |
| Parameter_AchsKopplung1 = 0; |
| Parameter_AchsKopplung2 = 0; |
| ExpandBaro = 0; |
| if(AdjustmentMode == 3) FC_StatusFlags3 |= FC_STATUS3_BOAT; |
| // else FC_StatusFlags3 &= ~FC_STATUS3_BOAT; -> do not clear that |
| CalibrierMittelwert(); |
| Delay_ms_Mess(100); |
| CalibrierMittelwert(); |
| timer = SetDelay(5); |
| while (!CheckDelay(timer)); |
| CalibrierMittelwert(); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750) || ExpandBaro) SucheLuftruckOffset(); |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| barotest = MessLuftdruck; |
| #define NEUTRAL_FILTER 32 |
| OCR0A += OPA_OFFSET_STEP; |
| OCR0B = 255 - OCR0A; |
| for(i=0; i<NEUTRAL_FILTER; i++) |
| { |
| Delay_ms_Mess(10); |
| gier_neutral += AdWertGier; |
| nick_neutral += AdWertNick; |
| roll_neutral += AdWertRoll; |
| acc_z_neutral += Aktuell_az; |
| } |
| if(MessLuftdruck < 1010 && MessLuftdruck > 20) BaroStep = barotest - MessLuftdruck; |
| OCR0A -= OPA_OFFSET_STEP; |
| OCR0B = 255 - OCR0A; |
| AdNeutralNick = (nick_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralRoll = (roll_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER / 8); |
| AdNeutralGier = (gier_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
| NeutralAccZ = (acc_z_neutral+NEUTRAL_FILTER/2) / (NEUTRAL_FILTER); |
| //AdNeutralGier -= 20; |
| StartNeutralRoll = AdNeutralRoll; |
| StartNeutralNick = AdNeutralNick; |
| VersionInfo.HardwareError[1] &= ~FC_ERROR1_ACC_NOT_CAL; |
| if(AdjustmentMode == 2) |
| { |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| // Save ACC neutral settings to eeprom |
| StoreNeutralToEeprom(); |
| } |
| else |
| { |
| // restore from eeprom |
| NeutralAccX = (int16_t)GetParamWord(PID_ACC_NICK); |
| NeutralAccY = (int16_t)GetParamWord(PID_ACC_ROLL); |
| // strange settings? |
| if(((unsigned int) NeutralAccX > 2048) || ((unsigned int) NeutralAccY > 2048)/* || ((unsigned int) NeutralAccZ > 1024)*/) |
| { |
| printf("\r\nACC not calibrated!\r\n"); |
| NeutralAccX = abs(Mittelwert_AccNick) / (2*ACC_AMPLIFY); |
| NeutralAccY = abs(Mittelwert_AccRoll) / (2*ACC_AMPLIFY); |
| VersionInfo.HardwareError[1] |= FC_ERROR1_ACC_NOT_CAL; |
| sucess = 0; |
| } |
| // restore from eeprom |
| BoatNeutralNick = (int16_t)GetParamWord(PID_GYRO_NICK); |
| BoatNeutralRoll = (int16_t)GetParamWord(PID_GYRO_ROLL); |
| BoatNeutralGier = (int16_t)GetParamWord(PID_GYRO_YAW); |
| LastFlightNeutralNick = (int16_t)GetParamWord(EE_LAST_GYRO_NICK); |
| LastFlightNeutralRoll = (int16_t)GetParamWord(EE_LAST_GYRO_ROLL); |
| LastFlightNeutralGier = (int16_t)GetParamWord(EE_LAST_GYRO_YAW); |
| // last-Values valid? |
| if(((unsigned int) LastFlightNeutralNick > (600 * 16)) || ((unsigned int) LastFlightNeutralNick < (400 * 16)) || ((unsigned int) LastFlightNeutralRoll > (600 * 16)) || ((unsigned int) LastFlightNeutralRoll < (400 * 16)) || ((unsigned int) LastFlightNeutralGier > (600 * 2)) || ((unsigned int) LastFlightNeutralGier < (400 * 2))) |
| { |
| printf("\r\nlast Gyro calibration data not valid!\r\n"); |
| lastgyrovalid = 0; |
| } |
| if(abs(BoatNeutralNick - LastFlightNeutralNick) > 200) LastFlightNeutralNick = BoatNeutralNick; |
| if(abs(BoatNeutralRoll - LastFlightNeutralRoll) > 200) LastFlightNeutralRoll = BoatNeutralRoll; |
| if(abs(BoatNeutralGier - LastFlightNeutralGier) > 50) LastFlightNeutralGier = BoatNeutralGier; |
| // Boat-Values valid? |
| if(((unsigned int) BoatNeutralNick > (600 * 16)) || ((unsigned int) BoatNeutralNick < (400 * 16)) || ((unsigned int) BoatNeutralRoll > (600 * 16)) || ((unsigned int) BoatNeutralRoll < (400 * 16)) || ((unsigned int) BoatNeutralGier > (600 * 2)) || ((unsigned int) BoatNeutralGier < (400 * 2))) |
| { |
| printf("\r\nGyro ACC calibration data not valid!\r\n"); |
| sucess = 0; |
| FC_StatusFlags3 &= ~FC_STATUS3_BOAT; |
| boatvalid = 0; |
| } |
| else |
| { |
| if(FC_StatusFlags3 & FC_STATUS3_BOAT) // Read Gyro Data from eeprom |
| { |
| AdNeutralNick = BoatNeutralNick; |
| AdNeutralRoll = BoatNeutralRoll; |
| AdNeutralGier = BoatNeutralGier; |
| } |
| } |
| } |
| // ist it within the Boat-Values? |
| if(abs((AdNeutralGier - BoatNeutralGier) > MAX_DRIFT_YAW) || abs((AdNeutralNick - BoatNeutralNick) > MAX_DRIFT_NR) || abs((AdNeutralRoll - BoatNeutralRoll) > MAX_DRIFT_NR)) |
| { |
| sucess = 0; |
| if(AdjustmentMode == 1) SpeakHoTT = SPEAK_ERR_CALIBARTION; // calibration before start |
| if(boatvalid) |
| { |
| AdNeutralNick = BoatNeutralNick; |
| AdNeutralRoll = BoatNeutralRoll; |
| AdNeutralGier = BoatNeutralGier; |
| } |
| } |
| // make average from these three values |
| if(lastgyrovalid && boatvalid) |
| { |
| AdNeutralGier = (BoatNeutralGier + LastFlightNeutralGier + AdNeutralGier) / 3; |
| AdNeutralNick = (BoatNeutralNick + LastFlightNeutralNick + AdNeutralNick) / 3; |
| AdNeutralRoll = (BoatNeutralRoll + LastFlightNeutralRoll + AdNeutralRoll) / 3; |
| if(AdjustmentMode == 0) printf("Gyro calibration EEPROM data valid\r\n"); |
| } |
| EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
| MesswertNick = 0; |
| AdNeutralNick= abs(MesswertNick); |
| AdNeutralRoll= abs(MesswertRoll); |
| AdNeutralGier= abs(MesswertGier); |
| NeutralAccY = abs(Mittelwert_AccRoll) / ACC_AMPLIFY; |
| NeutralAccX = abs(Mittelwert_AccNick) / ACC_AMPLIFY; |
| NeutralAccZ = Aktuell_az; |
| Mess_IntegralNick = 0; |
| Mess_IntegralNick2 = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralRoll2 = 0; |
| Mess_Integral_Gier = 0; |
| MesswertNick = 0; |
| MesswertRoll = 0; |
| MesswertGier = 0; |
| Delay_ms_Mess(200); |
| Mittelwert_AccNick = ACC_AMPLIFY * AdWertAccNick; |
| Mittelwert_AccRoll = ACC_AMPLIFY * AdWertAccRoll; |
| IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| Mess_IntegralNick = IntegralNick; |
| Mess_IntegralRoll = IntegralRoll; |
| Mess_Integral_Gier = 0; |
| KompassSollWert = KompassValue; |
| NC_CompassSetpoint = -1; |
| KompassSignalSchlecht = 100; |
| Umschlag180Nick = ((long) EE_Parameter.WinkelUmschlagNick * 2500L) + 15000L; |
| Umschlag180Roll = ((long) EE_Parameter.WinkelUmschlagRoll * 2500L) + 15000L; |
| ErsatzKompass = KompassValue * GIER_GRAD_FAKTOR; |
| GierGyroFehler = 0; |
| LED_Init(); |
| if(AdjustmentMode != 0) FC_StatusFlags |= FC_STATUS_CALIBRATE; |
| FromNaviCtrl_Value.Kalman_K = -1; |
| FromNaviCtrl_Value.Kalman_MaxDrift = 0; |
| FromNaviCtrl_Value.Kalman_MaxFusion = 32; |
| SenderOkay = 100; |
| if(ServoActive) DDRD |=0x80; // enable J7 -> Servo signal |
| else |
| { |
| CalculateServoSignals = 1; |
| CalcNickServoValue(); |
| CalculateServo(1); // nick |
| CalculateServo(1); // roll |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| signed int tilt1, tilt2; |
| tilt1 = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| tilt2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
| tilt1 = (int16_t)ihypot(tilt1,tilt2); // tilt angle over all |
| CosAttitude = c_cos_8192(tilt1); |
| NeutralAccZ = (long)((long) (NeutralAccZ - 512) * 8192 + 4096) / CosAttitude + 512; |
| if(tilt1 > 20) sucess = 0; // calibration must be within 20° Tilt angle |
| if(AdjustmentMode != 0 && ACC_AltitudeControl) if((NeutralAccZ < 682 - 30) || (NeutralAccZ > 682 + 35)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; sucess = 0;}; |
| #else |
| NeutralAccZ = (int16_t)GetParamWord(PID_ACC_TOP); |
| EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
| #endif |
| if((AdNeutralNick < 150 * 16) || (AdNeutralNick > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; }; |
| if((AdNeutralRoll < 150 * 16) || (AdNeutralRoll > 850 * 16)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; }; |
| if((AdNeutralGier < 150 * 2) || (AdNeutralGier > 850 * 2)) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; }; |
| if((NeutralAccX < 300) || (NeutralAccX > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_NICK; }; |
| if((NeutralAccY < 300) || (NeutralAccY > 750)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_ROLL; }; |
| if((NeutralAccZ < 512) || (NeutralAccZ > 850)) { VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; }; |
| if(VersionInfo.HardwareError[0]) sucess = 0; |
| carefree_old = 70; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| LIBFC_HoTT_Clear(); |
| ACC_AltitudeFusion(2); // initalisation |
| #endif |
| StartLuftdruck = LuftdruckKompensiert; |
| VarioMeter = 0; |
| SummenHoehe = 0; Mess_Integral_Hoch = 0; |
| DebugOut.Analog[28] = 0; // I2C-Counter |
| CalcExpandBaroStep(); |
| if(FC_StatusFlags3 & FC_STATUS3_BOAT && !EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 4; |
| ShutterCounter = 0; |
| /* |
| //+++++++++++++++++++++++++++++++++++++++++++ |
| //For testing the expandBaro at 30m |
| ExpandBaro -= 1; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
| OCR0B = 255 - OCR0A; |
| CalcExpandBaroStep(); |
| //+++++++++++++++++++++++++++++++++++++++++++ |
| */ |
| return(sucess); |
| StartLuftdruck = Luftdruck; |
| HoeheD = 0; |
| Mess_Integral_Hoch = 0; |
| KompassStartwert = KompassValue; |
| GPS_Neutral(); |
| beeptime = 50; |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| signed long LaserAltCorrection(void) |
| { |
| static signed long laser_alt_correct = 0,laser_alt_correct_tmp = 0; |
| static unsigned char laser_activated = 0; |
| signed long diff; |
| CHK_POTI(Parameter_LaserAltitude,EE_Parameter.LaserAltitudeParameter); |
| if(GetChannelValue(EE_Parameter.LaserAltitudeChannel) < 50) Parameter_LaserAltitude = 0; |
| DebugOut.Analog[26] = Parameter_LaserAltitude; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Parameter_LaserAltitude > 5) |
| { |
| if(laser_activated < 250) laser_activated++; |
| } |
| else |
| if(Parameter_LaserAltitude == 0) |
| { |
| laser_activated = 0; |
| } |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(laser_activated < 3) // wenn deaktiviert -> intern mitteln |
| { |
| diff = FromNC_Laser_cm - (HoehenWertF + laser_alt_correct_tmp - laser_alt_correct); |
| LIMIT_MIN_MAX(diff,-800,800); |
| diff = diff/4; |
| laser_alt_correct_tmp += diff; |
| } |
| else |
| if(laser_activated == 3) // beim Aktivieren die Sollhöhe neu anlernen und Mittelwert als Korrekturwert übernehmen |
| { |
| laser_activated++; |
| laser_alt_correct = laser_alt_correct_tmp; |
| LaserAltitudeCorrection = laser_alt_correct; // reset filter |
| BaroExpandActive = 50; |
| beeptime = 1000; |
| } |
| else |
| if(laser_activated == 4) // beim Aktivieren die Sollhöhe neu anlernen und Mittelwert als Korrekturwert übernehmen |
| { |
| SollHoehe = HoehenWertF; // update setpoint to current altitude if Laser gets activated |
| } |
| else // normale Regelung |
| { |
| diff = FromNC_Laser_cm - HoehenWertF; |
| LIMIT_MIN_MAX(diff,-400,400); |
| diff = (diff * Parameter_LaserAltitude) / 512; |
| laser_alt_correct_tmp += diff; |
| laser_alt_correct = laser_alt_correct_tmp;//(laser_alt_correct + laser_alt_correct_tmp) / 2; |
| } |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[17] = laser_alt_correct_tmp; |
| ToNC_LaserAltCorrect_dm = laser_alt_correct / 10; |
| return(laser_alt_correct); |
| } |
| #endif |
| //############################################################################ |
| // Bearbeitet die Messwerte |
| // Bildet den Mittelwert aus den Messwerten |
| void Mittelwert(void) |
| //############################################################################ |
| { |
| static signed long tmpl,tmpl2,tmpl3,tmpl4, laser_alt_correct = 0; |
| static signed int oldNick, oldRoll, d2Roll, d2Nick; |
| signed long winkel_nick, winkel_roll; |
| static unsigned char laser_correct_interval; |
| MesswertGier = (signed int) AdNeutralGier - AdWertGier; |
| MesswertNick = (signed int) AdWertNickFilter / 8; |
| MesswertRoll = (signed int) AdWertRollFilter / 8; |
| RohMesswertNick = MesswertNick; |
| RohMesswertRoll = MesswertRoll; |
| // Beschleunigungssensor ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mittelwert_AccNick = (Mittelwert_AccNick * 3 + ((ACC_AMPLIFY * AdWertAccNick))) / 4L; |
| Mittelwert_AccRoll = (Mittelwert_AccRoll * 3 + ((ACC_AMPLIFY * AdWertAccRoll))) / 4L; |
| NaviAccNick += AdWertAccNick; |
| NaviAccRoll += AdWertAccRoll; |
| NaviCntAcc++; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| HoehenWert = HoehenWert_Mess + LaserAltitudeCorrection; |
| HoehenWertF = HoehenWertF_Mess + LaserAltitudeCorrection; |
| if(FromNC_Laser_cm > 80 && FromNC_Laser_cm < 60000) |
| { |
| if(!laser_correct_interval--) |
| { |
| laser_alt_correct = LaserAltCorrection(); |
| laser_correct_interval = 100; |
| } |
| else LaserAltitudeCorrection = (LaserAltitudeCorrection * 7 + laser_alt_correct)/8; |
| } |
| DebugOut.Analog[16] = FromNC_Laser_cm; |
| DebugOut.Analog[18] = HoehenWertF; |
| DebugOut.Analog[19] = HoehenWert; |
| DebugOut.Analog[25] = HoehenWertF_Mess; |
| #else |
| HoehenWert = HoehenWert_Mess; |
| HoehenWertF = HoehenWert; |
| #endif |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| // ADC einschalten |
| ANALOG_ON; |
| AdReady = 0; |
| //++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Mess_IntegralRoll > 93000L) winkel_roll = 93000L; |
| else if(Mess_IntegralRoll <-93000L) winkel_roll = -93000L; |
| else winkel_roll = Mess_IntegralRoll; |
| if(Mess_IntegralNick > 93000L) winkel_nick = 93000L; |
| else if(Mess_IntegralNick <-93000L) winkel_nick = -93000L; |
| else winkel_nick = Mess_IntegralNick; |
| // Gier ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_Integral_Gier += MesswertGier; |
| ErsatzKompass += MesswertGier; |
| // Kopplungsanteil +++++++++++++++++++++++++++++++++++++ |
| // if(!Looping_Nick && !Looping_Roll) |
| { |
| tmpl3 = (MesswertRoll * winkel_nick) / 2048L; |
| tmpl3 *= Parameter_AchsKopplung2; //65 |
| tmpl3 /= 4096L; |
| tmpl4 = (MesswertNick * winkel_roll) / 2048L; |
| tmpl4 *= Parameter_AchsKopplung2; //65 |
| tmpl4 /= 4096L; |
| KopplungsteilNickRoll = tmpl3; |
| KopplungsteilRollNick = tmpl4; |
| tmpl4 -= tmpl3; |
| ErsatzKompass += tmpl4; |
| if(!Parameter_CouplingYawCorrection) Mess_Integral_Gier -= tmpl4/2; // Gier nachhelfen |
| tmpl = ((MesswertGier + tmpl4) * winkel_nick) / 2048L; |
| tmpl *= Parameter_AchsKopplung1; // 90 |
| tmpl /= 4096L; |
| tmpl2 = ((MesswertGier + tmpl4) * winkel_roll) / 2048L; |
| tmpl2 *= Parameter_AchsKopplung1; |
| tmpl2 /= 4096L; |
| if(abs(MesswertGier) > 64) if(labs(tmpl) > 128 || labs(tmpl2) > 128) TrichterFlug = 1; |
| //MesswertGier += (Parameter_CouplingYawCorrection * tmpl4) / 256; |
| } |
| // else tmpl = tmpl2 = KopplungsteilNickRoll = KopplungsteilRollNick = 0; |
| TrimRoll = tmpl - tmpl2 / 100L; |
| TrimNick = -tmpl2 + tmpl / 100L; |
| // Kompasswert begrenzen ++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ErsatzKompass >= (360L * GIER_GRAD_FAKTOR)) ErsatzKompass -= 360L * GIER_GRAD_FAKTOR; // 360° Umschlag |
| if(ErsatzKompass < 0) ErsatzKompass += 360L * GIER_GRAD_FAKTOR; |
| // Roll ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_IntegralRoll += MesswertRoll + TrimRoll - LageKorrekturRoll; |
| if(Mess_IntegralRoll > Umschlag180Roll) |
| { |
| Mess_IntegralRoll = -(Umschlag180Roll - 25000L); |
| } |
| if(Mess_IntegralRoll <-Umschlag180Roll) |
| { |
| Mess_IntegralRoll = (Umschlag180Roll - 25000L); |
| } |
| // Nick ++++++++++++++++++++++++++++++++++++++++++++++++ |
| Mess_IntegralNick += MesswertNick + TrimNick - LageKorrekturNick; |
| if(Mess_IntegralNick > Umschlag180Nick) |
| { |
| Mess_IntegralNick = -(Umschlag180Nick - 25000L); |
| } |
| if(Mess_IntegralNick <-Umschlag180Nick) |
| { |
| Mess_IntegralNick = (Umschlag180Nick - 25000L); |
| } |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| if(messanzahl_AccNick) Mittelwert_AccNick = ((long)Mittelwert_AccNick * 7 + ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick)) / 8L; |
| if(messanzahl_AccRoll) Mittelwert_AccRoll = ((long)Mittelwert_AccRoll * 7 + ((ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll)) / 8L; |
| if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)Mittelwert_AccHoch * 7 + ((long)accumulate_AccHoch) / messanzahl_AccHoch) / 8L; |
| AccumulateNick = 0; MessanzahlNick = 0; |
| AccumulateRoll = 0; MessanzahlRoll = 0; |
| AccumulateGier = 0; MessanzahlGier = 0; |
| accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| Integral_Gier = Mess_Integral_Gier; |
| // Integral_Gier2 = Mess_Integral_Gier2; |
| IntegralNick = Mess_IntegralNick; |
| IntegralRoll = Mess_IntegralRoll; |
| IntegralNick2 = Mess_IntegralNick2; |
| IntegralRoll2 = Mess_IntegralRoll2; |
| // ADC einschalten |
| ANALOG_ON; |
| //------------------------------------------------------------------------------ |
| if(MesswertNick > 200) MesswertNick += 4 * (MesswertNick - 200); |
| else |
| if(MesswertNick < -200) MesswertNick += 4 * (MesswertNick + 200); |
| #define D_LIMIT 128 |
| if(MesswertRoll > 200) MesswertRoll += 4 * (MesswertRoll - 200); |
| else |
| if(MesswertRoll < -200) MesswertRoll += 4 * (MesswertRoll + 200); |
| //------------------------------------------------------------------------------ |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| } |
| MesswertNick = HiResNick / 8; |
| MesswertRoll = HiResRoll / 8; |
| if(AdWertNick < 15) MesswertNick = -1000; if(AdWertNick < 7) MesswertNick = -2000; |
| // if(PlatinenVersion == 10) { if(AdWertNick > 1010) MesswertNick = +1000; if(AdWertNick > 1017) MesswertNick = +2000; } |
| // else |
| { if(AdWertNick > 2000) MesswertNick = +1000; if(AdWertNick > 2015) MesswertNick = +2000; } |
| if(AdWertRoll < 15) MesswertRoll = -1000; if(AdWertRoll < 7) MesswertRoll = -2000; |
| // if(PlatinenVersion == 10) { if(AdWertRoll > 1010) MesswertRoll = +1000; if(AdWertRoll > 1017) MesswertRoll = +2000; } |
| // else |
| { if(AdWertRoll > 2000) MesswertRoll = +1000; if(AdWertRoll > 2015) MesswertRoll = +2000; } |
| if(Parameter_Gyro_D) |
| { |
| d2Nick = HiResNick - oldNick; |
| oldNick = (oldNick + HiResNick)/2; |
| if(d2Nick > D_LIMIT) d2Nick = D_LIMIT; |
| else if(d2Nick < -D_LIMIT) d2Nick = -D_LIMIT; |
| d2Roll = HiResRoll - oldRoll; |
| oldRoll = (oldRoll + HiResRoll)/2; |
| if(d2Roll > D_LIMIT) d2Roll = D_LIMIT; |
| else if(d2Roll < -D_LIMIT) d2Roll = -D_LIMIT; |
| MesswertNick += (d2Nick * (signed int) Parameter_Gyro_D) / 16; |
| MesswertRoll += (d2Roll * (signed int) Parameter_Gyro_D) / 16; |
| HiResNick += (d2Nick * (signed int) Parameter_Gyro_D); |
| HiResRoll += (d2Roll * (signed int) Parameter_Gyro_D); |
| } |
| if(RohMesswertRoll > 0) TrimRoll += ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimRoll -= ((long) abs(KopplungsteilNickRoll) * Parameter_CouplingYawCorrection) / 64L; |
| if(RohMesswertNick > 0) TrimNick += ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| else TrimNick -= ((long) abs(KopplungsteilRollNick) * Parameter_CouplingYawCorrection) / 64L; |
| if(Parameter_GlobalConfig & CFG_DREHRATEN_BEGRENZER) |
| { |
| if(RohMesswertNick > 256) MesswertNick += 1 * (RohMesswertNick - 256); |
| else if(RohMesswertNick < -256) MesswertNick += 1 * (RohMesswertNick + 256); |
| if(RohMesswertRoll > 256) MesswertRoll += 1 * (RohMesswertRoll - 256); |
| else if(RohMesswertRoll < -256) MesswertRoll += 1 * (RohMesswertRoll + 256); |
| } |
| //############################################################################ |
| // Messwerte beim Ermitteln der Nullage |
| void CalibrierMittelwert(void) |
| //############################################################################ |
| { |
| // ADC auschalten, damit die Werte sich nicht während der Berechnung ändern |
| ANALOG_OFF; |
| if(MessanzahlNick) (MesswertNick = AccumulateNick / MessanzahlNick); |
| if(MessanzahlRoll) (MesswertRoll = AccumulateRoll / MessanzahlRoll); |
| if(MessanzahlGier) (MesswertGier = AccumulateGier / MessanzahlGier); |
| if(messanzahl_AccNick) Mittelwert_AccNick = ((ACC_AMPLIFY * (long)accumulate_AccNick) / messanzahl_AccNick); |
| if(messanzahl_AccRoll) Mittelwert_AccRoll = (ACC_AMPLIFY * (long)accumulate_AccRoll) / messanzahl_AccRoll; |
| if(messanzahl_AccHoch) Mittelwert_AccHoch = ((long)accumulate_AccHoch) / messanzahl_AccHoch; |
| AccumulateNick = 0; MessanzahlNick = 0; |
| AccumulateRoll = 0; MessanzahlRoll = 0; |
| AccumulateGier = 0; MessanzahlGier = 0; |
| accumulate_AccRoll = 0;messanzahl_AccRoll = 0; |
| accumulate_AccNick = 0;messanzahl_AccNick = 0; |
| accumulate_AccHoch = 0;messanzahl_AccHoch = 0; |
| // ADC einschalten |
| ANALOG_ON; |
| if(Poti1 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110) Poti1++; else if(Poti1 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]] + 110 && Poti1) Poti1--; |
| if(Poti2 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110) Poti2++; else if(Poti2 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]] + 110 && Poti2) Poti2--; |
| if(Poti3 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110) Poti3++; else if(Poti3 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]] + 110 && Poti3) Poti3--; |
| if(Poti4 < PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110) Poti4++; else if(Poti4 > PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]] + 110 && Poti4) Poti4--; |
| if(Poti1 < 0) Poti1 = 0; else if(Poti1 > 255) Poti1 = 255; |
| if(Poti2 < 0) Poti2 = 0; else if(Poti2 > 255) Poti2 = 255; |
| if(Poti3 < 0) Poti3 = 0; else if(Poti3 > 255) Poti3 = 255; |
| if(Poti4 < 0) Poti4 = 0; else if(Poti4 > 255) Poti4 = 255; |
| } |
| //############################################################################ |
| 787,944 → 243,464 |
| // Senden der Motorwerte per I2C-Bus |
| void SendMotorData(void) |
| //############################################################################ |
| { |
| unsigned char i; |
| if(!MotorenEin) |
| { |
| if(MOTOR_OFF || !MotorenEin) |
| { |
| FC_StatusFlags &= ~(FC_STATUS_MOTOR_RUN | FC_STATUS_FLY); |
| FC_StatusFlags2 &= ~FC_STATUS2_WAIT_FOR_TAKEOFF; |
| for(i=0;i<MAX_MOTORS;i++) |
| { |
| if(!PC_MotortestActive) MotorTest[i] = 0; |
| Motor[i].SetPoint = MotorTest[i]; |
| Motor[i].SetPointLowerBits = 0; |
| /* |
| Motor[i].SetPoint = MotorTest[i] / 4; // testing the high resolution |
| Motor[i].SetPointLowerBits = MotorTest[i] % 4; |
| */ |
| } |
| if(PC_MotortestActive) PC_MotortestActive--; |
| Motor_Hinten = 0; |
| Motor_Vorne = 0; |
| Motor_Rechts = 0; |
| Motor_Links = 0; |
| if(MotorTest[0]) Motor_Vorne = MotorTest[0]; |
| if(MotorTest[1]) Motor_Hinten = MotorTest[1]; |
| if(MotorTest[2]) Motor_Links = MotorTest[2]; |
| if(MotorTest[3]) Motor_Rechts = MotorTest[3]; |
| } |
| else FC_StatusFlags |= FC_STATUS_MOTOR_RUN; |
| // ++++++++++++++++++++++++++++++++++++++++++ |
| // ++++++++++++++++++++++++++++++++++++++++++ |
| #ifdef REDUNDANT_FC_SLAVE |
| I2CTimeout = 100; |
| return; // don't send I2C-Data |
| #endif |
| DebugOut.Analog[12] = Motor_Vorne; |
| DebugOut.Analog[13] = Motor_Hinten; |
| DebugOut.Analog[14] = Motor_Links; |
| DebugOut.Analog[15] = Motor_Rechts; |
| #ifdef REDUNDANT_FC_MASTER |
| if(Parameter_UserParam7 > 150) |
| { |
| FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_TEST; |
| // Make noise |
| if((BeepMuster == 0xffff)) { beeptime = 25000; BeepMuster = 0x0080; } |
| // Do not send I2C-Data |
| if((FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) || !(FC_StatusFlags |= FC_STATUS_MOTOR_RUN)) |
| { |
| I2CTimeout = 100; |
| if(modell_fliegt != 0 && modell_fliegt < 100) modell_fliegt = 100; // ansonsten kann es vorkommen, dass die Master-FC auf Standgas bleibt |
| return; // don't send I2C-Data |
| } |
| } |
| #endif |
| if(I2C_TransferActive) |
| { |
| I2C_TransferActive = 0; // enable for the next time |
| } |
| else |
| { |
| // motor_write = 0; |
| I2C_Start(TWI_STATE_MOTOR_TX); //Start I2C Interrupt Mode |
| } |
| //Start I2C Interrupt Mode |
| twi_state = 0; |
| motor = 0; |
| i2c_start(); |
| } |
| unsigned char GetChannelValue(unsigned char ch) // gives the unsigned value of the channel |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Konstanten |
| // + 0-250 -> normale Werte |
| // + 251 -> Poti1 |
| // + 252 -> Poti2 |
| // + 253 -> Poti3 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| void DefaultKonstanten1(void) |
| { |
| int tmp2; |
| if(ch == 0) return(0); |
| tmp2 = PPM_in[ch] + 127; |
| if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
| return(tmp2); |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.Kanalbelegung[K_POTI4] = 8; |
| EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV | CFG_KOMPASS_FIX;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| 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.Gier_P = 16; // Wert : 1-20 |
| EE_Parameter.Gas_Min = 15; // Wert : 0-32 |
| EE_Parameter.Gas_Max = 250; // Wert : 33-250 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 120; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 150; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 5; |
| EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| memcpy(EE_Parameter.Name, "Normal\0", 12); |
| } |
| void DefaultKonstanten2(void) |
| { |
| EE_Parameter.Kanalbelegung[K_NICK] = 1; |
| EE_Parameter.Kanalbelegung[K_ROLL] = 2; |
| EE_Parameter.Kanalbelegung[K_GAS] = 3; |
| EE_Parameter.Kanalbelegung[K_GIER] = 4; |
| EE_Parameter.Kanalbelegung[K_POTI1] = 5; |
| EE_Parameter.Kanalbelegung[K_POTI2] = 6; |
| EE_Parameter.Kanalbelegung[K_POTI3] = 7; |
| EE_Parameter.GlobalConfig = 0;//CFG_HOEHENREGELUNG | /*CFG_HOEHEN_SCHALTER |*/ CFG_KOMPASS_AKTIV;//0x01; |
| EE_Parameter.Hoehe_MinGas = 30; |
| EE_Parameter.MaxHoehe = 251; // Wert : 0-32 251 -> Poti1 |
| EE_Parameter.Hoehe_P = 10; // Wert : 0-32 |
| 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_D = 0; //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 |
| EE_Parameter.GyroAccFaktor = 26; // Wert : 1-64 |
| EE_Parameter.KompassWirkung = 128; // Wert : 0-250 |
| EE_Parameter.Gyro_P = 175; //80 // Wert : 0-250 |
| EE_Parameter.Gyro_I = 175; // Wert : 0-250 |
| EE_Parameter.UnterspannungsWarnung = 90; // Wert : 0-250 |
| EE_Parameter.NotGas = 35; // Wert : 0-250 // Gaswert bei Empangsverlust |
| EE_Parameter.NotGasZeit = 20; // Wert : 0-250 // Zeit bis auf NotGas geschaltet wird, wg. Rx-Problemen |
| EE_Parameter.UfoAusrichtung = 0; // X oder + Formation |
| EE_Parameter.I_Faktor = 5; |
| EE_Parameter.UserParam1 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam2 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam3 = 0; //zur freien Verwendung |
| EE_Parameter.UserParam4 = 0; //zur freien Verwendung |
| EE_Parameter.ServoNickControl = 100; // Wert : 0-250 // Stellung des Servos |
| EE_Parameter.ServoNickComp = 40; // Wert : 0-250 // Einfluss Gyro/Servo |
| EE_Parameter.ServoNickCompInvert = 0; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| EE_Parameter.ServoNickMin = 50; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickMax = 150; // Wert : 0-250 // Anschlag |
| EE_Parameter.ServoNickRefresh = 5; |
| memcpy(EE_Parameter.Name, "Kamera\0", 12); |
| } |
| //############################################################################ |
| // Trägt ggf. das Poti als Parameter ein |
| void ParameterZuordnung(void) |
| void ParameterZuordnung(void) |
| //############################################################################ |
| { |
| unsigned char tmp,i; |
| for(i=0;i<8;i++) |
| { |
| int tmp2; |
| tmp = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| tmp2 = PPM_in[tmp] + 127; |
| if(tmp2 > 255) tmp2 = 255; else if(tmp2 < 0) tmp2 = 0; |
| if(tmp == WP_EVENT_PPM_IN) Poti[i] = tmp2; // WaypointEvent channel -> no filter |
| else |
| if(tmp2 != Poti[i]) |
| { |
| Poti[i] += (tmp2 - Poti[i]) / 4; |
| if(Poti[i] > tmp2) Poti[i]--; |
| else Poti[i]++; |
| } |
| } |
| CHK_POTI_MM(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI_MM(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| 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); |
| if(EE_Parameter.Servo3 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo3 = EE_Parameter.Servo3OnValue; else Parameter_Servo3 = EE_Parameter.Servo3OffValue;} // Out1 (J16) |
| else if(EE_Parameter.Servo3 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo3 = EE_Parameter.Servo3OnValue; else Parameter_Servo3 = EE_Parameter.Servo3OffValue;} |
| else CHK_POTI_MM(Parameter_Servo3,EE_Parameter.Servo3, 24, 255); |
| #define CHK_POTI(b,a,min,max) { if(a > 250) { if(a == 251) b = Poti1; else if(a == 252) b = Poti2; else if(a == 253) b = Poti3; else if(a == 254) b = Poti4;} else b = a; if(b <= min) b = min; else if(b >= max) b = max;} |
| CHK_POTI(Parameter_MaxHoehe,EE_Parameter.MaxHoehe,0,255); |
| CHK_POTI(Parameter_Luftdruck_D,EE_Parameter.Luftdruck_D,0,100); |
| CHK_POTI(Parameter_Hoehe_P,EE_Parameter.Hoehe_P,0,100); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung,0,255); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung,0,255); |
| CHK_POTI(Parameter_Gyro_P,EE_Parameter.Gyro_P,10,255); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I,0,255); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor,0,255); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1,0,255); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2,0,255); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3,0,255); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4,0,255); |
| if(EE_Parameter.Servo4 == 247) { if(PORTC & (1<<PORTC2)) Parameter_Servo4 = EE_Parameter.Servo4OnValue; else Parameter_Servo4 = EE_Parameter.Servo4OffValue;} |
| else if(EE_Parameter.Servo4 == 246) { if(PORTC & (1<<PORTC3)) Parameter_Servo4 = EE_Parameter.Servo4OnValue; else Parameter_Servo4 = EE_Parameter.Servo4OffValue;} // Out2 (J17) |
| else CHK_POTI_MM(Parameter_Servo4,EE_Parameter.Servo4, 24, 255); |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| CHK_POTI_MM(Parameter_Servo5,EE_Parameter.Servo5, 24, 255); |
| CHK_POTI(Parameter_Hoehe_ACC_Wirkung,EE_Parameter.Hoehe_ACC_Wirkung); |
| CHK_POTI(Parameter_Hoehe_TiltCompensation,EE_Parameter.Hoehe_TiltCompensation); |
| CHK_POTI(Parameter_KompassWirkung,EE_Parameter.KompassWirkung); |
| CHK_POTI(Parameter_Gyro_I,EE_Parameter.Gyro_I); |
| CHK_POTI(Parameter_Gyro_D,EE_Parameter.Gyro_D); |
| CHK_POTI(Parameter_Gyro_Gier_P,EE_Parameter.Gyro_Gier_P); |
| CHK_POTI(Parameter_Gyro_Gier_I,EE_Parameter.Gyro_Gier_I); |
| CHK_POTI(Parameter_I_Faktor,EE_Parameter.I_Faktor); |
| CHK_POTI(Parameter_UserParam1,EE_Parameter.UserParam1); |
| CHK_POTI(Parameter_UserParam2,EE_Parameter.UserParam2); |
| CHK_POTI(Parameter_UserParam3,EE_Parameter.UserParam3); |
| CHK_POTI(Parameter_UserParam4,EE_Parameter.UserParam4); |
| CHK_POTI(Parameter_UserParam5,EE_Parameter.UserParam5); |
| CHK_POTI(Parameter_UserParam6,EE_Parameter.UserParam6); |
| CHK_POTI(Parameter_UserParam7,EE_Parameter.UserParam7); |
| CHK_POTI(Parameter_UserParam8,EE_Parameter.UserParam8); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl); |
| CHK_POTI(Parameter_ServoRollControl,EE_Parameter.ServoRollControl); |
| CHK_POTI(Parameter_ServoNickComp,EE_Parameter.ServoNickComp); |
| CHK_POTI(Parameter_ServoRollComp,EE_Parameter.ServoRollComp); |
| CHK_POTI(Parameter_LoopGasLimit,EE_Parameter.LoopGasLimit); |
| CHK_POTI(Parameter_AchsKopplung1,EE_Parameter.AchsKopplung1); |
| CHK_POTI(Parameter_AchsKopplung2,EE_Parameter.AchsKopplung2); |
| CHK_POTI(Parameter_CouplingYawCorrection,EE_Parameter.CouplingYawCorrection); |
| CHK_POTI(Parameter_MaximumAltitude,EE_Parameter.MaxAltitude); |
| // if((NC_To_FC_MaxAltitude && NC_To_FC_MaxAltitude < Parameter_MaximumAltitude) || Parameter_MaximumAltitude == 0) Parameter_MaximumAltitude = NC_To_FC_MaxAltitude; |
| Parameter_GlobalConfig = EE_Parameter.GlobalConfig; |
| Parameter_ExtraConfig = EE_Parameter.ExtraConfig; |
| // CHK_POTI(Parameter_AchsGegenKopplung1,EE_Parameter.AchsGegenKopplung1,0,255); |
| CHK_POTI(Parameter_DynamicStability,EE_Parameter.DynamicStability); |
| CHK_POTI(Parameter_ExternalControl,EE_Parameter.ExternalControl); |
| Ki = 10300 / (Parameter_I_Faktor + 1); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| CHK_POTI(Parameter_ServoNickControl,EE_Parameter.ServoNickControl,0,255); |
| Ki = (float) Parameter_I_Faktor * 0.0001; |
| MAX_GAS = EE_Parameter.Gas_Max; |
| MIN_GAS = EE_Parameter.Gas_Min; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Parameter_HoehenSchalter = GetChannelValue(EE_Parameter.HoeheChannel); |
| Parameter_GPS_Switch = GetChannelValue(EE_Parameter.NaviGpsModeChannel); |
| Parameter_CareFree_Switch = GetChannelValue(EE_Parameter.CareFreeChannel); |
| Parameter_Autoland_Switch = GetChannelValue(EE_Parameter.StartLandChannel); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ExternalControl.Config & EC_VALID) |
| { |
| if(ExternalControl.Config & EC_IGNORE_RC_LOST) ReceiverOkay = 220; |
| if(ExternalControl.Config & EC_USE_SWITCH) |
| { |
| if(ExternalControl.Switches & EC2_AUTOLAND) Parameter_Autoland_Switch = 1; |
| else |
| if(ExternalControl.Switches & EC2_AUTOSTART) Parameter_Autoland_Switch = 250; |
| else Parameter_GPS_Switch = 128; |
| if(ExternalControl.Switches & EC2_PH) Parameter_GPS_Switch = 128; |
| else |
| if(ExternalControl.Switches & EC2_CH) Parameter_GPS_Switch = 250; |
| else Parameter_GPS_Switch = 0; |
| if(ExternalControl.Switches & EC2_CAREFREE) Parameter_CareFree_Switch = 250; |
| else Parameter_CareFree_Switch = 0; |
| if(ExternalControl.Switches & EC2_ALTITUDE) { Parameter_HoehenSchalter = 250; Parameter_GlobalConfig |= (CFG_HOEHENREGELUNG | CFG_HOEHEN_SCHALTER);} |
| else Parameter_HoehenSchalter = 0; |
| } |
| } |
| if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) Parameter_GPS_Switch = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(EE_Parameter.CareFreeChannel || (ExternalControl.Config & EC_USE_SWITCH)) |
| { |
| CareFree = 1; |
| if(Parameter_CareFree_Switch < 64) CareFree = 0; |
| if(carefree_old != CareFree) |
| { |
| if(carefree_old < 3) |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(CareFree) { beeptime = 1500; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_ON; } |
| else { beeptime = 200; if(!SpeakHoTT) SpeakHoTT = SPEAK_CF_OFF; } |
| #else |
| if(CareFree) beeptime = 1500; |
| else beeptime = 200; |
| #endif |
| NeueKompassRichtungMerken = 5; |
| carefree_old = CareFree; |
| } else carefree_old--; |
| } |
| #ifndef REDUNDANT_FC_SLAVE |
| if(FromNaviCtrl.CompassValue < 0 && CareFree) VersionInfo.HardwareError[0] |= FC_ERROR0_CAREFREE; //else VersionInfo.HardwareError[0] &= ~FC_ERROR0_CAREFREE; |
| #endif |
| } |
| else |
| { |
| CareFree = 0; |
| carefree_old = 10; |
| } |
| if(FromNaviCtrl.CompassValue < 0 && MotorenEin && CareFree) // ungültiger Kompasswert |
| { |
| if(BeepMuster == 0xffff) { beeptime = 15000; BeepMuster = 0xA400;}; |
| CareFree = 0; |
| } |
| if(CareFree) { FC_StatusFlags2 |= FC_STATUS2_CAREFREE; } else FC_StatusFlags2 &= ~FC_STATUS2_CAREFREE; |
| } |
| void CalcStickGasHover(void) |
| { |
| if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| { |
| StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
| StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning; |
| } |
| else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| LIMIT_MIN_MAX(StickGasHover, 70, 175); // reserve some range for trim up and down |
| } |
| void ChannelAssingment(void) |
| { |
| cli(); |
| ChannelNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]]; |
| ChannelRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]; |
| ChannelYaw = PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| ChannelGas = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //+ Analoge Steuerung per Seriell |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ExternalControl.Config & EC_VALID) |
| { |
| if(MotorenEin && (ExternalControl.Config & EC_ONLY_IF_MOTOR_OFF)) // this is used for calibrate etc. |
| { |
| ExternalControl.Nick = 0; |
| ExternalControl.Roll = 0; |
| ExternalControl.Gier = 0; |
| ExternalControl.Gas = 0; |
| } |
| if(ExternalControl.Config & EC_IGNORE_RC_STICK) // do not add |
| { |
| ChannelNick = ExternalControl.Nick; |
| ChannelRoll = ExternalControl.Roll; |
| ChannelYaw = ExternalControl.Gier; |
| ChannelGas = ExternalControl.Gas; |
| } |
| else |
| { |
| ChannelNick += ExternalControl.Nick; |
| ChannelRoll += ExternalControl.Roll; |
| ChannelYaw += ExternalControl.Gier; |
| if(ExternalControl.Config & EC_GAS_ADD) ChannelGas += ExternalControl.Gas; |
| else |
| { |
| if(ExternalControl.Gas < ChannelGas) ChannelGas = ExternalControl.Gas; // the RC-Stick is the MAX value here |
| } |
| } |
| } |
| sei(); |
| if(ChannelNick > 127) ChannelNick = 127; else if(ChannelNick < -127) ChannelNick = -127; |
| if(ChannelRoll > 127) ChannelRoll = 127; else if(ChannelRoll < -127) ChannelRoll = -127; |
| if(ChannelYaw > 127) ChannelYaw = 127; else if(ChannelYaw < -127) ChannelYaw = -127; |
| if(ChannelGas > 127) ChannelGas = 127; else if(ChannelGas < -127) ChannelGas = -127; |
| } |
| //############################################################################ |
| // |
| void MotorRegler(void) |
| //############################################################################ |
| { |
| int pd_ergebnis_nick,pd_ergebnis_roll,tmp_int, tmp_int2; |
| int motorwert,pd_ergebnis,h,tmp_int; |
| int GierMischanteil,GasMischanteil; |
| static long SummeNick=0,SummeRoll=0; |
| static long sollGier = 0,tmp_long,tmp_long2; |
| static unsigned int RcLostTimer, delay_Acc_neutral; |
| static int IntegralFehlerNick = 0; |
| static int IntegralFehlerRoll = 0; |
| static unsigned int RcLostTimer; |
| static unsigned char delay_neutral = 0; |
| static unsigned char delay_einschalten = 0,delay_ausschalten = 0; |
| static signed char move_safety_switch = 0; |
| int IntegralNickMalFaktor,IntegralRollMalFaktor; |
| unsigned char i; |
| Mittelwert(); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| static unsigned int modell_fliegt = 0; |
| static int hoehenregler = 0; |
| static char TimerWerteausgabe = 0; |
| static char NeueKompassRichtungMerken = 0; |
| Mittelwert(); |
| GRN_ON; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gaswert ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!(FC_StatusFlags & (FC_STATUS_EMERGENCY_LANDING | FC_STATUS2_RC_FAILSAVE_ACTIVE))) |
| { |
| if(EE_Parameter.GlobalConfig3 & CFG3_VARIO_FAILSAFE) |
| { |
| if(HoverGas && HoverGas < 150 * STICK_GAIN) |
| { |
| HooverGasEmergencyPercent = (HoverGas/(STICK_GAIN) * EE_Parameter.NotGas) / 100; // i.e. 80% of Hovergas |
| } |
| else HooverGasEmergencyPercent = 45; // default if the Hoovergas was could not calculated yet |
| } else HooverGasEmergencyPercent = EE_Parameter.NotGas; |
| } |
| if(GasIsZeroCnt == 30000) // in that case we have RC-Lost, but the MK is probably landed |
| { |
| StickGas = 0; // Hold Gas down in that case |
| // ExternalControl.Gas = 0; |
| HooverGasEmergencyPercent = MIN_GAS; |
| } |
| GasMischanteil = StickGas; |
| if(GasMischanteil < MIN_GAS + 10) GasMischanteil = MIN_GAS + 10; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Empfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ReceiverOkay < 100 && !(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE)) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil = PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] + 120; |
| if(GasMischanteil < 0) GasMischanteil = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang schlecht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay < 100) |
| { |
| ServoFailsafeActive = SERVO_FS_TIME; |
| if(RcLostTimer) RcLostTimer--; |
| else |
| if(!PcZugriff) beeptime = 500; |
| if(RcLostTimer) RcLostTimer--; |
| else |
| { |
| MotorenEin = 0; |
| modell_fliegt = 0; |
| FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
| } |
| Notlandung = 0; |
| } |
| ROT_ON; |
| if(modell_fliegt > 1000 && Capacity.MinOfMaxPWM > 100) // wahrscheinlich in der Luft --> langsam absenken |
| if(modell_fliegt > 2000) // wahrscheinlich in der Luft --> langsam absenken |
| { |
| GasMischanteil = HooverGasEmergencyPercent; |
| FC_StatusFlags |= FC_STATUS_EMERGENCY_LANDING; |
| } |
| else |
| { |
| MotorenEin = 0; |
| } |
| GasMischanteil = EE_Parameter.NotGas; |
| Notlandung = 1; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| /* Poti1 = 65; |
| Poti2 = 48; |
| Poti3 = 0; |
| */ } |
| else MotorenEin = 0; |
| } |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| else |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emfang gut |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ReceiverOkay > 140)// && 0) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SenderOkay > 140) |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| static unsigned int trigger = 1000; |
| static unsigned char old_switch = 100; |
| if((EE_Parameter.StartLandChannel || (ExternalControl.Config & EC_USE_SWITCH)) && EE_Parameter.LandingSpeed) |
| { |
| if(Parameter_Autoland_Switch > 180) |
| { |
| if(old_switch == 50) if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) { FC_StatusFlags2 |= FC_STATUS2_AUTO_STARTING; SpeakHoTT = SPEAK_RISING;} |
| FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
| old_switch = 150; |
| } |
| else |
| if(Parameter_Autoland_Switch < 64) |
| { |
| if(old_switch == 150) { FC_StatusFlags2 |= FC_STATUS2_AUTO_LANDING; SpeakHoTT = SPEAK_SINKING;} |
| FC_StatusFlags2 &= ~FC_STATUS2_AUTO_STARTING; |
| old_switch = 50; |
| } |
| else // mittenstellung |
| { |
| FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
| } |
| } |
| #endif |
| FC_StatusFlags &= ~FC_STATUS_EMERGENCY_LANDING; |
| Notlandung = 0; |
| RcLostTimer = EE_Parameter.NotGasZeit * 50; |
| if(GasMischanteil > 40 && MotorenEin) |
| if(GasMischanteil > 40) |
| { |
| if(modell_fliegt < 0xffff) modell_fliegt++; |
| } |
| if((modell_fliegt < 256)) |
| { |
| if((modell_fliegt < 200) || (GasMischanteil < 40)) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| old_switch = 100; |
| #endif |
| } |
| else |
| { |
| FC_StatusFlags |= FC_STATUS_FLY; |
| if(FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF) |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if((NC_To_FC_Flags & NC_TO_FC_AUTOSTART || FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) && (VarioCharacter == '=') && ACC_AltitudeControl) |
| { |
| FromNC_AltitudeSpeed = 80; |
| FromNC_AltitudeSetpoint = 500; |
| SollHoehe = 500; |
| trigger = 1000; |
| if(NC_To_FC_Flags & NC_TO_FC_AUTOSTART) SpeakHoTT = SPEAK_STARTING_WP; |
| /* if(StartTrigger != 2) |
| { |
| StartTrigger = 1; |
| if(HoverGas < STICK_GAIN * 35) HoverGas = STICK_GAIN * 35; |
| } |
| */ |
| } |
| // else FC_StatusFlags2 &= ~(FC_STATUS2_AUTO_STARTING); |
| #endif |
| if(HoehenWertF > 150 || HoehenWert < -350 || !(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| trigger = 1000; |
| if(FC_StatusFlags2 & FC_STATUS2_AUTO_STARTING) { FromNC_AltitudeSpeed = 0; SollHoehe = 300;/*HoehenWertF + 100;*/} |
| else SpeakHoTT = SPEAK_RISING; |
| #endif |
| FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
| } |
| SummeNick = 0; |
| SummeRoll = 0; |
| Mess_Integral_Gier = 0; |
| // sollGier = 0; |
| if(modell_fliegt > 1000) modell_fliegt = 1000; // for the Hooverpoint-Estimation |
| } |
| else // Flying mode |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if((FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) && (VarioCharacter == 'v' || VarioCharacter == '=') && ACC_AltitudeControl) |
| { |
| FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
| FromNC_AltitudeSetpoint = -20000; |
| } |
| if(trigger < 1000) |
| { |
| trigger++; |
| SummeNick = 0; |
| SummeRoll = 0; |
| Mess_Integral_Gier = 0; |
| SollHoehe = HoehenWertF - 300; |
| if(trigger == 1000 && FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING && VarioCharacter != '+') |
| { |
| FC_StatusFlags2 &= ~FC_STATUS2_AUTO_LANDING; |
| FC_StatusFlags2 |= FC_STATUS2_WAIT_FOR_TAKEOFF; // go back into starting state |
| } |
| } |
| else |
| if(ACC_AltitudeControl && (VarioCharacter == 'v' || VarioCharacter == '-') && HoehenWert < 1000 /*&& FromNC_AltitudeSetpoint < 0*/) |
| { |
| if((Aktuell_az/4 > EE_Parameter.LandingPulse) && (NeutralAccZ/4 > EE_Parameter.LandingPulse)) |
| { |
| trigger = 0; |
| SpeakHoTT = SPEAK_LANDING; |
| }; |
| } |
| #endif |
| } |
| } // end of: modell_fliegt > 256 |
| if((ChannelGas > 80) && MotorenEin == 0 && !(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE)) |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| } |
| if((GasMischanteil > 200) && MotorenEin == 0) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // auf Nullwerte kalibrieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ChannelYaw > 75) // Neutralwerte |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) // Neutralwerte |
| { |
| unsigned char setting; |
| if(++delay_neutral > 200) // nicht sofort |
| { |
| unsigned char setting = 0; |
| GRN_OFF; |
| SetNeutral(); |
| MotorenEin = 0; |
| delay_neutral = 0; |
| modell_fliegt = 0; |
| if(ChannelNick > 70 || abs(ChannelRoll) > 70) |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70 || abs(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]]) > 70) |
| { |
| if(ChannelRoll > 70 && ChannelNick < 70 && ChannelNick > -70) setting = 1; |
| if(ChannelRoll > 70 && ChannelNick > 70) setting = 2; |
| if(ChannelRoll < 70 && ChannelNick > 70) setting = 3; |
| if(ChannelRoll <-70 && ChannelNick > 70) setting = 4; |
| if(ChannelRoll <-70 && ChannelNick < 70 && ChannelNick > -70) setting = 5; |
| if(setting) SetActiveParamSet(setting); // aktiven Datensatz merken |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 1; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] > 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 2; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] < 70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 3; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] > 70) setting = 4; |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] <-70 && PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] < 70) setting = 5; |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], setting); // aktiven Datensatz merken |
| } |
| if(abs(ChannelRoll) < 30 && ChannelNick < -70) |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| Piep(GetActiveParamSetNumber()); |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| WinkelOut.CalcState = 1; // Compass kalibrieren |
| CalibrationDone = 0; |
| beeptime = 1000; |
| } |
| else |
| { |
| ParamSet_ReadFromEEProm(ActiveParamSet); |
| LipoDetection(0); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung aktiviert? |
| { |
| if((MessLuftdruck > 950) || (MessLuftdruck < 750)) SucheLuftruckOffset(); |
| } |
| if(!setting && ChannelRoll < -70 && ChannelNick < 70) CalibrationDone = SetNeutral(3); // Boat-Mode |
| // else |
| // if(!setting && ChannelYaw < -75 && abs(ChannelNick) < 70) CalibrationDone = SetNeutral(2); // store ACC values into EEPROM |
| else CalibrationDone = SetNeutral(1); |
| ServoActive = 1; |
| DDRD |=0x80; // enable J7 -> Servo signal |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
| else |
| if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
| else { SpeakHoTT = SPEAK_CALIBRATE; TimerSpeakReady = 6;} |
| ShowSettingNameTime = 4; // for HoTT & Jeti |
| #endif |
| Piep(ActiveParamSet,120); |
| } |
| } |
| } |
| } |
| } |
| else |
| if(ChannelYaw < -75 && abs(ChannelRoll) < 16 && abs(ChannelRoll) < 16) // ACC calibrate |
| { |
| if(++delay_Acc_neutral > 500 * 5) // 5 sekunden |
| { |
| delay_Acc_neutral = 0; |
| CalibrationDone = SetNeutral(2); // store ACC values into EEPROM |
| ServoActive = 1; |
| DDRD |=0x80; // enable J7 -> Servo signal |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(VersionInfo.HardwareError[0]) SpeakHoTT = SPEAK_ERR_SENSOR; |
| else |
| if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
| else { SpeakHoTT = SPEAK_CALIBRATE; TimerSpeakReady = 6;} |
| ShowSettingNameTime = 5; // for HoTT & Jeti |
| #endif |
| Piep(ActiveParamSet,120); |
| } |
| } |
| else { delay_neutral = 0; delay_Acc_neutral = 0;}; |
| else delay_neutral = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gas ist unten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ChannelGas < -100) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(GasMischanteil < 35) |
| { |
| if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] > 5) move_safety_switch = 100; |
| else |
| if(PPM_diff[EE_Parameter.MotorSafetySwitch & 127] < -5) move_safety_switch = -100; |
| // Motoren Starten |
| if(!MotorenEin) |
| { |
| if(((((ChannelYaw < -100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
| || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] > -10 && move_safety_switch == 100))) |
| && !(NC_To_FC_Flags & NC_TO_FC_SIMULATION_ACTIVE)) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Starten |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] < -75) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(CalibrationDone) FC_StatusFlags |= FC_STATUS_START; |
| StartLuftdruck = LuftdruckKompensiert; |
| HoehenWert = 0; |
| HoehenWert_Mess = 0; |
| GasIsZeroCnt = 600; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| HoehenWertF_Mess = 0; |
| #endif |
| SummenHoehe = 0; |
| if((ChannelNick > -100 || abs(ChannelRoll) < 100) && EE_Parameter.MotorSafetySwitch == 0) delay_einschalten = 0; |
| if(++delay_einschalten > 253) |
| { |
| if(FC_StatusFlags3 & FC_STATUS3_BOAT) { if((abs(MesswertGier) > 32*2 || abs(MesswertNick) > 20*3) || abs(MesswertRoll) > 20*3) CalibrationDone = 0; } // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich |
| else |
| if((abs(MesswertGier) > 32 || abs(MesswertNick) > 20) || abs(MesswertRoll) > 20) CalibrationDone = 0; // dann ist der Gyro defekt, schlecht kalibriert oder der MK dreht sich |
| delay_einschalten = 0; |
| if(!VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode && !Partner_ErrorCode) |
| { |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccNick; |
| Mess_IntegralRoll = EE_Parameter.GyroAccFaktor * (long)Mittelwert_AccRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| // ControlHeading = (((int) EE_Parameter.OrientationAngle * 15 + KompassValue) % 360) / 2; |
| NeueKompassRichtungMerken = 100; // 2 sekunden |
| NC_CompassSetpoint = -1; |
| NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| SpeakHoTT = SPEAK_STARTING; |
| #endif |
| } |
| else |
| { |
| beeptime = 1500; // indicate missing calibration |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(!CalibrationDone) SpeakHoTT = SPEAK_ERR_CALIBARTION; |
| else SpeakHoTT = SPEAK_ERROR; |
| #endif |
| } |
| } |
| } |
| else delay_einschalten = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(++delay_einschalten > 200) |
| { |
| delay_einschalten = 200; |
| modell_fliegt = 1; |
| MotorenEin = 1; |
| sollGier = 0; |
| Mess_Integral_Gier = 0; |
| Mess_Integral_Gier2 = 0; |
| Mess_IntegralNick = 0; |
| Mess_IntegralRoll = 0; |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| SummeNick = 0; |
| SummeRoll = 0; |
| } |
| } |
| else delay_einschalten = 0; |
| //Auf Neutralwerte setzen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| else // only if motors are running |
| { |
| // if((PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) && (PPM_in[EE_Parameter.MotorSafetySwitch] < -75 || EE_Parameter.MotorSafetySwitch == 0)) |
| if((((ChannelYaw > 100) && ((!(EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -75) || EE_Parameter.MotorSafetySwitch == 0))) |
| || (((EE_Parameter.GlobalConfig3 & CFG3_MOTOR_SWITCH_MODE) && PPM_in[EE_Parameter.MotorSafetySwitch] < -50 && move_safety_switch == -100))) |
| { |
| if((ChannelNick > -100 || abs(ChannelRoll) < 100) && EE_Parameter.MotorSafetySwitch == 0) |
| { |
| delay_ausschalten = 0; |
| } |
| else |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| } |
| if(++delay_ausschalten > 250 || Partner_StatusFlags3 & FC_STATUS3_MOTORS_STOPPED_BY_RC) // nicht sofort oder wenn der Partner schon aus ist |
| { |
| FC_StatusFlags3 |= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors |
| Delete_Stoppflag_Timer = 2; // 1-2 seconds |
| if(!NC_ErrorCode && modell_fliegt > 60 * 500 && MotorenEin) StoreLastDriftcompensation(); |
| MotorenEin = 0; |
| delay_ausschalten = 0; |
| modell_fliegt = 0; |
| FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| SpeakHoTT = SPEAK_MK_OFF; |
| #endif |
| } |
| else |
| if(delay_ausschalten == 100) beeptime = 3500; |
| } |
| else delay_ausschalten = 0; |
| } |
| if(GasIsZeroCnt < 1000) |
| { |
| if(VarioMeter > -150) GasIsZeroCnt++; |
| else if(GasIsZeroCnt) GasIsZeroCnt--; |
| } |
| } |
| else // gas not at minimum |
| { |
| move_safety_switch = 0; |
| GasIsZeroCnt = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] > 75) |
| { |
| if(++delay_ausschalten > 200) // nicht sofort |
| { |
| MotorenEin = 0; |
| delay_ausschalten = 200; |
| modell_fliegt = 0; |
| } |
| } |
| else delay_ausschalten = 0; |
| } |
| } |
| else // Empfang zwischen 100 und 140 -> schlecht |
| { |
| if(GasIsZeroCnt >= 750) // gas-stick was down for 1.5 seconds before RC-Lost |
| { |
| if((GPSInfo.HomeDistance < 40 * 10) && (HoehenWert < 15 * 100)) // and we are at the starting point -> maybe landed? |
| { |
| GasIsZeroCnt = 30000; |
| if(modell_fliegt > 1001) modell_fliegt = 1001; |
| } |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // neue Werte von der Funke |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || (FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!NewPpmData-- || Notlandung) |
| { |
| static int stick_nick,stick_roll; |
| unsigned char stick_p; |
| NewPpmData = 15; // wait max 30ms or when a new PPM-Frame arrives |
| ParameterZuordnung(); |
| ChannelAssingment(); |
| stick_p = EE_Parameter.Stick_P; |
| stick_nick = (stick_nick * 3 + ChannelNick * stick_p) / 4; |
| stick_roll = (stick_roll * 3 + ChannelRoll * stick_p) / 4; |
| cli(); |
| stick_nick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| stick_roll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| sei(); |
| StickGas = ChannelGas + 127; |
| StickNick = PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_P; |
| StickNick += PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] * EE_Parameter.Stick_D; |
| StickRoll = PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_P; |
| StickRoll += PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] * EE_Parameter.Stick_D; |
| StickGier = -PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // CareFree und freie Wahl der vorderen Richtung |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(CareFree) |
| { |
| signed int nick, roll; |
| nick = stick_nick / 4; |
| roll = stick_roll / 4; |
| StickNick = ((FromNC_Rotate_C * nick) + (FromNC_Rotate_S * roll)) / (32 / 4); |
| StickRoll = ((FromNC_Rotate_C * roll) - (FromNC_Rotate_S * nick)) / (32 / 4); |
| } |
| else |
| { |
| FromNC_Rotate_C = sintab[EE_Parameter.OrientationAngle + 6]; |
| FromNC_Rotate_S = sintab[EE_Parameter.OrientationAngle]; |
| StickNick = ((FromNC_Rotate_C * stick_nick) + (FromNC_Rotate_S * stick_roll)) / 8; |
| StickRoll = ((FromNC_Rotate_C * stick_roll) - (FromNC_Rotate_S * stick_nick)) / 8; |
| } |
| GyroFaktor = ((float)Parameter_Gyro_P + 10.0) / 256.0; |
| IntegralFaktor = ((float) Parameter_Gyro_I) / 44000; |
| StickGier = -ChannelYaw; |
| if(StickGier > 4) StickGier -= 4; else |
| if(StickGier < -4) StickGier += 4; else StickGier = 0; |
| if(GasIsZeroCnt > 512) // About to switch - off |
| { |
| StickNick = StickNick/8; |
| StickRoll = StickRoll/8; |
| SummeNick = 0; |
| SummeRoll = 0; |
| } |
| else |
| if(GPS_Aid_StickMultiplikator) // in that case the GPS controls stronger |
| { |
| StickNick = (GPS_Aid_StickMultiplikator * (StickNick / 8)) / 16; |
| StickRoll = (GPS_Aid_StickMultiplikator * (StickRoll / 8)) / 16; |
| } |
| StickNick -= GPS_Nick; |
| StickRoll -= GPS_Roll; |
| GyroFaktor = (Parameter_Gyro_P + 10.0); |
| IntegralFaktor = Parameter_Gyro_I; |
| GyroFaktorGier = (Parameter_Gyro_Gier_P + 10.0); |
| IntegralFaktorGier = Parameter_Gyro_Gier_I; |
| if(Parameter_GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(abs(StickNick/STICK_GAIN) > MaxStickNick) |
| { |
| MaxStickNick = abs(StickNick)/STICK_GAIN; |
| if(MaxStickNick > 100) MaxStickNick = 100; |
| } |
| else MaxStickNick--; |
| if(abs(StickRoll/STICK_GAIN) > MaxStickRoll) |
| { |
| MaxStickRoll = abs(StickRoll)/STICK_GAIN; |
| if(MaxStickRoll > 100) MaxStickRoll = 100; |
| } |
| else MaxStickRoll--; |
| if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) {MaxStickNick = 0; MaxStickRoll = 0;} |
| } // Ende neue Funken-Werte |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(FC_StatusFlags2 & FC_STATUS2_RC_FAILSAVE_ACTIVE) |
| { |
| StickNick = -GPS_Nick; |
| StickRoll = -GPS_Roll; |
| StickGas = StickGasHover; |
| StickGier = 0; |
| Parameter_GlobalConfig &= ~(CFG_HEADING_HOLD | CFG_DREHRATEN_BEGRENZER); |
| Parameter_GlobalConfig |= CFG_HOEHENREGELUNG | CFG_KOMPASS_AKTIV | CFG_GPS_AKTIV | CFG_HOEHEN_SCHALTER; |
| Parameter_ExtraConfig &= ~(CFG2_HEIGHT_LIMIT | CFG_LEARNABLE_CAREFREE | CFG2_VARIO_BEEP); |
| Parameter_HoehenSchalter = 200; // switch on |
| } |
| else |
| if(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING) |
| if(EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) IntegralFaktor = 0; |
| if(GyroFaktor < 0) GyroFaktor = 0; |
| if(IntegralFaktor < 0) IntegralFaktor = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bei Empfangsausfall im Flug |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) |
| { |
| StickGier = 0; |
| StickNick = 0; |
| StickRoll = 0; |
| GyroFaktor = 90; |
| IntegralFaktor = 120; |
| GyroFaktorGier = 90; |
| IntegralFaktorGier = 120; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GyroFaktor = 0.1; |
| IntegralFaktor = 0.005; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift kompensieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define DRIFT_FAKTOR 3 |
| if(ZaehlMessungen >= 1000 / DRIFT_FAKTOR) |
| { |
| IntegralFehlerNick = IntegralNick2 - IntegralNick; |
| IntegralFehlerRoll = IntegralRoll2 - IntegralRoll; |
| ZaehlMessungen = 0; |
| if(IntegralFehlerNick > 500/DRIFT_FAKTOR) AdNeutralNick++; |
| if(IntegralFehlerNick < -500/DRIFT_FAKTOR) AdNeutralNick--; |
| if(IntegralFehlerRoll > 500/DRIFT_FAKTOR) AdNeutralRoll++; |
| if(IntegralFehlerRoll < -500/DRIFT_FAKTOR) AdNeutralRoll--; |
| if(Mess_Integral_Gier2 > 500/DRIFT_FAKTOR) AdNeutralGier--; |
| if(Mess_Integral_Gier2 <-500/DRIFT_FAKTOR) AdNeutralGier++; |
| ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| Mess_IntegralNick2 = IntegralNick; |
| Mess_IntegralRoll2 = IntegralRoll; |
| Mess_Integral_Gier2 = Integral_Gier; |
| ANALOG_ON; // ADC einschalten |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Integrale auf ACC-Signal abgleichen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define ABGLEICH_ANZAHL 256L |
| MittelIntegralNick += IntegralNick; // Für die Mittelwertbildung aufsummieren |
| MittelIntegralRoll += IntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if((Aktuell_az > 512 || MotorenEin)) |
| { |
| long tmp_long, tmp_long2; |
| if(FromNaviCtrl_Value.Kalman_K > 0 /*&& !TrichterFlug*/) |
| { |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccNick - FromNaviCtrl.AccErrorN)); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)(Mittelwert_AccRoll - FromNaviCtrl.AccErrorR)); |
| tmp_long = (tmp_long * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
| tmp_long2 = (tmp_long2 * FromNaviCtrl_Value.Kalman_K) / (32 * 16); |
| if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| { |
| tmp_long /= 2; |
| tmp_long2 /= 2; |
| } |
| if(tmp_long > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long2 > (long) FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long) FromNaviCtrl_Value.Kalman_MaxFusion; |
| if(tmp_long2 < (long)-FromNaviCtrl_Value.Kalman_MaxFusion) tmp_long2 = (long)-FromNaviCtrl_Value.Kalman_MaxFusion; |
| } |
| else |
| { |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick); |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll); |
| tmp_long /= 16; |
| tmp_long2 /= 16; |
| if((MaxStickNick > 64) || (MaxStickRoll > 64)) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| if(abs(ChannelYaw) > 25) |
| { |
| tmp_long /= 3; |
| tmp_long2 /= 3; |
| } |
| KompassFusion = 25; |
| #define AUSGLEICH 32 |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| } |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| DriftNick += tmp_long; |
| DriftRoll += tmp_long2; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ZaehlMessungen >= ABGLEICH_ANZAHL) //alle 512ms |
| { |
| // static int cnt = 0; |
| // static char last_n_p,last_n_n,last_r_p,last_r_n; |
| static long MittelIntegralNick_Alt,MittelIntegralRoll_Alt; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gyro-Drift ermitteln |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(EE_Parameter.Driftkomp && abs(Mittelwert_AccNick) < 200*4 && abs(Mittelwert_AccRoll) < 200*4 && !TrichterFlug && abs(MesswertGier) < 32/* && (FC_StatusFlags & FC_STATUS_FLY)*/) |
| { |
| DriftNick -= DriftNick / (64 * (unsigned int) EE_Parameter.Driftkomp); |
| DriftRoll -= DriftRoll / (64 * (unsigned int) EE_Parameter.Driftkomp); |
| GierGyroFehler -= GierGyroFehler / (64 * (unsigned int) EE_Parameter.Driftkomp); |
| if((MaxStickNick > 64) || (MaxStickRoll > 64) || (abs(ChannelYaw) > 25)) |
| { |
| DriftNick /= 2; |
| DriftRoll /= 2; |
| GierGyroFehler = 0; |
| } |
| if(DriftNick > 3000) { DriftNick = 0; AdNeutralNick++;} |
| if(DriftNick <-3000) { DriftNick = 0; AdNeutralNick--;} |
| if(DriftRoll > 3000) { DriftRoll = 0; AdNeutralRoll++;} |
| if(DriftRoll <-3000) { DriftRoll = 0; AdNeutralRoll--;} |
| if(GierGyroFehler > 3500) { GierGyroFehler = 0; AdNeutralGier++; } |
| if(GierGyroFehler <-3500) { GierGyroFehler = 0; AdNeutralGier--; } |
| if(AdNeutralNick > BoatNeutralNick + MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralNick + MAX_DRIFT_NR; |
| if(AdNeutralNick < BoatNeutralNick - MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralNick - MAX_DRIFT_NR; |
| if(AdNeutralRoll > BoatNeutralRoll + MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralRoll + MAX_DRIFT_NR; |
| if(AdNeutralRoll < BoatNeutralRoll - MAX_DRIFT_NR) AdNeutralRoll = BoatNeutralRoll - MAX_DRIFT_NR; |
| if(AdNeutralGier > BoatNeutralGier + MAX_DRIFT_YAW) AdNeutralGier = BoatNeutralGier + MAX_DRIFT_YAW; |
| if(AdNeutralGier < BoatNeutralGier - MAX_DRIFT_YAW) AdNeutralGier = BoatNeutralGier - MAX_DRIFT_YAW; |
| } |
| else |
| { |
| DriftNick = 0; |
| DriftRoll = 0; |
| GierGyroFehler = 0; |
| } |
| TrichterFlug = 0; |
| if(!IntegralFaktor) { LageKorrekturRoll = 0; LageKorrekturNick = 0;} // z.B. bei HH |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick_Alt = MittelIntegralNick; |
| MittelIntegralRoll_Alt = MittelIntegralRoll; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MittelIntegralNick = 0; |
| MittelIntegralRoll = 0; |
| ZaehlMessungen = 0; |
| } // ZaehlMessungen >= ABGLEICH_ANZAHL |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| tmp_long = (long)(IntegralNick / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccNick) / 16; |
| tmp_long2 = (long)(IntegralRoll / EE_Parameter.GyroAccFaktor - (long)Mittelwert_AccRoll) / 16; |
| #define AUSGLEICH 500 |
| if(tmp_long > AUSGLEICH) tmp_long = AUSGLEICH; |
| if(tmp_long < -AUSGLEICH) tmp_long =-AUSGLEICH; |
| if(tmp_long2 > AUSGLEICH) tmp_long2 = AUSGLEICH; |
| if(tmp_long2 <-AUSGLEICH) tmp_long2 =-AUSGLEICH; |
| ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| Mess_IntegralNick -= tmp_long; |
| Mess_IntegralRoll -= tmp_long2; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gieren |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(abs(StickGier) > 3) // war 15 |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| sollGier = StickGier; |
| if(abs(StickGier) > 35) |
| { |
| // KompassSignalSchlecht = 1000; |
| if(!(Parameter_GlobalConfig & CFG_KOMPASS_FIX)) |
| { |
| NeueKompassRichtungMerken = 50; // eine Sekunde zum Einloggen |
| }; |
| if(!(EE_Parameter.GlobalConfig & CFG_KOMPASS_FIX)) NeueKompassRichtungMerken = 1; |
| } |
| tmp_int = (long) EE_Parameter.StickGier_P * ((long)StickGier * abs(StickGier)) / 512L; // expo y = ax + bx² |
| tmp_int += (EE_Parameter.StickGier_P * StickGier) / 4; |
| if(GasIsZeroCnt > 512) tmp_int = 0; // disable Yawing when Gas-Stick is to Zero |
| tmp_int += CompassGierSetpoint; |
| sollGier = tmp_int; |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 50000) Mess_Integral_Gier = 50000; // begrenzen |
| if(Mess_Integral_Gier <-50000) Mess_Integral_Gier =-50000; |
| tmp_int = EE_Parameter.Gier_P * (sollGier * abs(sollGier)) / 256; // expo |
| Mess_Integral_Gier -= tmp_int; |
| if(Mess_Integral_Gier > 30000) Mess_Integral_Gier = 30000; // begrenzen |
| if(Mess_Integral_Gier <-30000) Mess_Integral_Gier =-30000; |
| ANALOG_ON; // ADC einschalten |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Kompass |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(KompassValue >= 0 && (Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //KompassValue = 12; |
| if(KompassValue && (EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)) |
| { |
| if(CalculateCompassTimer-- == 1) |
| { |
| int w,v,r,fehler,korrektur; // wird von der SPI-Routine auf 1 gesetzt |
| CalculateCompassTimer = 13; // falls keine Navi-Daten |
| // max. Korrekturwert schätzen |
| int w,v; |
| static int SignalSchlecht = 0; |
| w = abs(IntegralNick /512); // mit zunehmender Neigung den Einfluss drosseln |
| v = abs(IntegralRoll /512); |
| if(v > w) w = v; // grösste Neigung ermitteln |
| // korrektur = w / 4 + 1; |
| korrektur = w / 8 + 2; |
| ErsatzKompassInGrad = ErsatzKompass/GIER_GRAD_FAKTOR; |
| // Kompassfehlerwert bestimmen |
| fehler = ((540 + KompassValue - ErsatzKompassInGrad) % 360) - 180; |
| // GIER_GRAD_FAKTOR ist ca. 1200 |
| // Kompasswert einloggen |
| if(NeueKompassRichtungMerken) KompassSollWert = ErsatzKompassInGrad; |
| if(KompassSignalSchlecht) KompassSignalSchlecht--; |
| else |
| if(w < 25) |
| if(w < 25 && NeueKompassRichtungMerken && !SignalSchlecht) |
| { |
| KompassStartwert = KompassValue; |
| NeueKompassRichtungMerken = 0; |
| } |
| w = (w * Parameter_KompassWirkung) / 64; // auf die Wirkung normieren |
| w = Parameter_KompassWirkung - w; // Wirkung ggf drosseln |
| if(w > 0) |
| { |
| GierGyroFehler += fehler; |
| if(NeueKompassRichtungMerken) NeueKompassRichtungMerken--; |
| } |
| // Kompass fusionieren |
| if(!KompassSignalSchlecht) ErsatzKompass += (fehler * KompassFusion) / korrektur; |
| // MK Gieren |
| if(!NeueKompassRichtungMerken) |
| { |
| r = ((540 + (KompassSollWert - ErsatzKompassInGrad)) % 360) - 180; |
| v = r * (Parameter_KompassWirkung/2); // nach Kompass ausrichten |
| CompassGierSetpoint = v / 16; |
| } |
| else CompassGierSetpoint = 0; |
| } // CalculateCompassTimer |
| } |
| else CompassGierSetpoint = 0; |
| ANALOG_OFF; // ADC ausschalten, damit die Werte sich nicht während der Berechnung ändern |
| if(!SignalSchlecht) Mess_Integral_Gier += (KompassRichtung * w) / 32; // nach Kompass ausrichten |
| ANALOG_ON; // ADC einschalten |
| if(SignalSchlecht) SignalSchlecht--; |
| } |
| else SignalSchlecht = 500; // so lange das Signal taub stellen --> ca. 1 sek |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //DebugOut.Analog[16] = KompassFusion; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(TrichterFlug) { SummeRoll = 0; SummeNick = 0;}; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Debugwerte zuordnen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Sekunden++; |
| if(!TimerWerteausgabe--) |
| { |
| TimerWerteausgabe = 49; |
| // DebugOut.Analog[0] = MesswertNick; |
| // DebugOut.Analog[1] = MesswertRoll; |
| // DebugOut.Analog[2] = MesswertGier; |
| DebugOut.Analog[0] = IntegralNick / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[1] = IntegralRoll / EE_Parameter.GyroAccFaktor; |
| DebugOut.Analog[2] = Mittelwert_AccNick; |
| DebugOut.Analog[3] = Mittelwert_AccRoll; |
| DebugOut.Analog[4] = MesswertGier; |
| DebugOut.Analog[5] = HoehenWert; |
| DebugOut.Analog[6] = (Mess_Integral_Hoch / 512); |
| DebugOut.Analog[7] = GasMischanteil; |
| DebugOut.Analog[8] = KompassValue; |
| // DebugOut.Analog[9] = SollHoehe; |
| // DebugOut.Analog[10] = Mess_Integral_Gier / 128; |
| // DebugOut.Analog[11] = KompassStartwert; |
| // DebugOut.Analog[10] = Parameter_Gyro_I; |
| // DebugOut.Analog[10] = EE_Parameter.Gyro_I; |
| // DebugOut.Analog[9] = KompassRichtung; |
| // DebugOut.Analog[10] = GasMischanteil; |
| // DebugOut.Analog[3] = HoeheD * 32; |
| // DebugOut.Analog[4] = hoehenregler; |
| } |
| IntegralNickMalFaktor = (IntegralNick * IntegralFaktor) / (44000 / STICK_GAIN); |
| IntegralRollMalFaktor = (IntegralRoll * IntegralFaktor) / (44000 / STICK_GAIN); |
| #define TRIM_MAX 200 |
| if(TrimNick > TRIM_MAX) TrimNick = TRIM_MAX; else if(TrimNick <-TRIM_MAX) TrimNick =-TRIM_MAX; |
| if(TrimRoll > TRIM_MAX) TrimRoll = TRIM_MAX; else if(TrimRoll <-TRIM_MAX) TrimRoll =-TRIM_MAX; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Drehgeschwindigkeit und -winkel zu einem Istwert zusammenfassen |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| MesswertNick = IntegralNick * IntegralFaktor + MesswertNick * GyroFaktor; |
| MesswertRoll = IntegralRoll * IntegralFaktor + MesswertRoll * GyroFaktor; |
| MesswertGier = MesswertGier * (GyroFaktor/2) + Integral_Gier * IntegralFaktor; |
| MesswertNick = IntegralNickMalFaktor + (long)((long)MesswertNick * GyroFaktor + (long)TrimNick * 128L) / (256L / STICK_GAIN); |
| MesswertRoll = IntegralRollMalFaktor + (long)((long)MesswertRoll * GyroFaktor + (long)TrimRoll * 128L) / (256L / STICK_GAIN); |
| MesswertGier = (long)(MesswertGier * 2 * (long)GyroFaktorGier) / (256L / STICK_GAIN) + (long)(Integral_Gier * IntegralFaktorGier) / (2 * (44000 / STICK_GAIN)); |
| // Maximalwerte abfangen |
| #define MAX_SENSOR (4096) |
| #define MAX_SENSOR 2048 |
| if(MesswertNick > MAX_SENSOR) MesswertNick = MAX_SENSOR; |
| if(MesswertNick < -MAX_SENSOR) MesswertNick = -MAX_SENSOR; |
| if(MesswertRoll > MAX_SENSOR) MesswertRoll = MAX_SENSOR; |
| 1732,719 → 708,105 |
| if(MesswertGier > MAX_SENSOR) MesswertGier = MAX_SENSOR; |
| if(MesswertGier < -MAX_SENSOR) MesswertGier = -MAX_SENSOR; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Undervoltage |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!(FC_StatusFlags & FC_STATUS_LOWBAT)) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // Die Höhenregelung schwächt lediglich das Gas ab, erhöht es allerdings nicht |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //OCR0B = 180 - (Poti1 + 120) / 4; |
| //DruckOffsetSetting = OCR0B; |
| if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG)) // Höhenregelung |
| { |
| GasMischanteil = ((unsigned int)GasMischanteil * BattLowVoltageWarning) / UBat; // Gas auf das aktuelle Spannungvieveau beziehen |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Auto-Landing |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| static unsigned char slower; |
| if(!slower--) |
| { |
| static unsigned int u_filter = 0; |
| if(!u_filter) u_filter = UBat; |
| if(UBat > u_filter) u_filter++; else |
| if(UBat < u_filter) u_filter--; |
| slower = 100; // 5Hz |
| if(u_filter < BattAutoLandingVoltage) |
| { |
| LowVoltageLandingActive = 10; // 2 sek |
| ServoFailsafeActive = SERVO_FS_TIME; |
| } |
| else if(u_filter > BattAutoLandingVoltage + LipoCells && LowVoltageLandingActive) LowVoltageLandingActive--; |
| if(u_filter < BattComingHomeVoltage) |
| { |
| LowVoltageHomeActive = 25; // min. 5 sek |
| } |
| else if(u_filter > BattComingHomeVoltage + LipoCells && LowVoltageHomeActive) LowVoltageHomeActive--; |
| } |
| if(LowVoltageLandingActive && FromNC_AltitudeSetpoint >= 0) |
| { |
| FromNC_AltitudeSpeed = EE_Parameter.LandingSpeed; |
| if(HoehenWert > 15*100) FromNC_AltitudeSpeed *= 2; // faster above 15m |
| FromNC_AltitudeSetpoint = -20000; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // send SPI pending bytes |
| if(BytegapSPI == 0) SPI_TransmitByte(); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Höhenregelung |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GasMischanteil *= STICK_GAIN; |
| // if height control is activated |
| if((Parameter_GlobalConfig & CFG_HOEHENREGELUNG) && !(VersionInfo.HardwareError[0] & 0x7F)) // Höhenregelung |
| { |
| #define HOVER_GAS_AVERAGE 16384L // 16384 * 2ms = 32s averaging |
| #define HC_GAS_AVERAGE 4 // 4 * 2ms= 8ms averaging |
| int HCGas, GasReduction = 0; |
| static int HeightTrimming = 0; // rate for change of height setpoint |
| static int HeightDeviation = 0, FilterHCGas = 0; |
| static unsigned long HoverGasFilter = 0; |
| static unsigned char delay = 100, BaroAtUpperLimit = 0, BaroAtLowerLimit = 0; |
| // Expand the measurement |
| // measurement of air pressure close to upper limit and no overflow in correction of the new OCR0A value occurs |
| if(!BaroExpandActive) |
| { |
| if(MessLuftdruck > 920) |
| { // increase offset |
| if(OCR0A < (255 - OPA_OFFSET_STEP)) |
| { |
| ExpandBaro -= 1; |
| BaroExpandCnt -= 50; |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // increase offset to shift ADC down |
| OCR0B = 255 - OCR0A; |
| beeptime = 300; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(ACC_AltitudeControl) BaroExpandActive = 50; |
| else |
| #endif |
| BaroExpandActive = 350; |
| CalcExpandBaroStep(); |
| } |
| else |
| { |
| BaroAtLowerLimit = 1; |
| } |
| } |
| // measurement of air pressure close to lower limit and |
| else |
| if(MessLuftdruck < 100) |
| { // decrease offset |
| if(OCR0A > OPA_OFFSET_STEP) |
| { |
| ExpandBaro += 1; |
| BaroExpandCnt += 50; // is decere |
| OCR0A = DruckOffsetSetting - OPA_OFFSET_STEP * ExpandBaro; // decrease offset to shift ADC up |
| OCR0B = 255 - OCR0A; |
| beeptime = 300; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(ACC_AltitudeControl) BaroExpandActive = 50; |
| else |
| #endif |
| BaroExpandActive = 350; |
| CalcExpandBaroStep(); |
| } |
| else |
| { |
| BaroAtUpperLimit = 1; |
| } |
| } |
| else |
| { |
| BaroAtUpperLimit = 0; |
| BaroAtLowerLimit = 0; |
| } |
| } |
| else // delay, because of expanding the Baro-Range |
| { |
| // now clear the D-values |
| VarioMeter = 0; |
| cli(); |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(ACC_AltitudeControl) ACC_AltitudeFusion(1); // init |
| else SummenHoehe = HoehenWert * SM_FILTER; |
| #else |
| SummenHoehe = HoehenWert * SM_FILTER; |
| #endif |
| sei(); |
| BaroExpandActive--; |
| if(abs(BaroExpandCnt) > 75) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; // defective Baro-Sensor detected |
| } |
| // if height control is activated by an rc channel |
| if(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { // check if parameter is less than activation threshold |
| if(Parameter_HoehenSchalter < 50) // for 3 or 2-state switch height control is disabled in lowest position |
| { //height control not active |
| if(!delay--) |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(!SpeakHoTT && HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_OFF; |
| #endif |
| HoehenReglerAktiv = 0; // disable height control |
| SollHoehe = HoehenWert; // update SetPoint with current reading |
| delay = 1; |
| } |
| } |
| else |
| if(Parameter_HoehenSchalter > 70) |
| { //height control is activated |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(!SpeakHoTT && !HoehenReglerAktiv) SpeakHoTT = SPEAK_ALTITUDE_ON; |
| #endif |
| delay = 200; |
| HoehenReglerAktiv = 1; // enable height control |
| } |
| } |
| else // no switchable height control |
| { |
| SollHoehe = (/*(int16_t) ExternHoehenValue + */(int16_t) Parameter_HoehenSchalter) * (int)EE_Parameter.Hoehe_Verstaerkung; |
| HoehenReglerAktiv = 1; |
| } |
| // calculate cos of nick and roll angle used for projection of the vertical hoover gas |
| tmp_int = (int)(IntegralNick/GIER_GRAD_FAKTOR); // nick angle in deg |
| tmp_int2 = (int)(IntegralRoll/GIER_GRAD_FAKTOR); // roll angle in deg |
| tmp_int = (int16_t)ihypot(tmp_int, tmp_int2); // phytagoras gives effective attitude angle in deg |
| tmp_int = (tmp_int * Parameter_Hoehe_TiltCompensation) / 100; |
| LIMIT_MAX(tmp_int, 60); // limit effective attitude angle |
| CosAttitude = c_cos_8192(tmp_int); // cos of actual attitude |
| VarioCharacter = ' '; |
| AltitudeSetpointTrimming = 0; |
| if(HoehenReglerAktiv && !(FC_StatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| // Holger original version |
| // start of height control algorithm |
| // the height control is only an attenuation of the actual gas stick. |
| // I.e. it will work only if the gas stick is higher than the hover gas |
| // and the hover height will be allways larger than height setpoint. |
| FC_StatusFlags2 |= FC_STATUS2_ALTITUDE_CONTROL; |
| if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) || !(Parameter_GlobalConfig & CFG_HOEHEN_SCHALTER)) // Regler wird über Schalter gesteuert) |
| { // old version |
| HCGas = GasMischanteil; // take current stick gas as neutral point for the height control |
| HeightTrimming = 0; |
| AltitudeSetpointTrimming = 0; |
| // set both flags to indicate no vario mode |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| } |
| else |
| { |
| // alternative height control |
| // PD-Control with respect to hoover point |
| // the thrust loss out of horizontal attitude is compensated |
| // the setpoint will be fine adjusted with the gas stick position |
| if(/*1 || */FC_StatusFlags & FC_STATUS_FLY) // trim setpoint only when flying |
| { // gas stick is above hoover point |
| if(StickGas > (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtUpperLimit) |
| { |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
| SollHoehe = HoehenWertF; // update setpoint to current heigth |
| } |
| // Limit the maximum Altitude |
| if(Parameter_MaximumAltitude && (SollHoehe/100 > Parameter_MaximumAltitude)) |
| { |
| AltitudeSetpointTrimming = 0; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(!SpeakHoTT && HoehenWert/95 > Parameter_MaximumAltitude) SpeakHoTT = SPEAK_MAX_ALTITUD; |
| #endif |
| VarioCharacter = '='; |
| } |
| else |
| { |
| if(HeightDeviation > 20) SollHoehe = HoehenWertF; // update setpoint to current heigth |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
| AltitudeSetpointTrimming = abs(StickGas - (StickGasHover + HEIGHT_CONTROL_STICKTHRESHOLD)); |
| if(LowVoltageLandingActive) AltitudeSetpointTrimming /= 3; // only 33% rising |
| VarioCharacter = '+'; |
| } |
| WaypointTrimming = 0; |
| } // gas stick is below hoover point |
| else if(StickGas < (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD) && !BaroAtLowerLimit ) // Minus |
| { |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP || (HeightDeviation < -300)) |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
| SollHoehe = HoehenWertF; // update setpoint to current heigth |
| } |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
| AltitudeSetpointTrimming = -abs(StickGas - (StickGasHover - HEIGHT_CONTROL_STICKTHRESHOLD)); |
| VarioCharacter = '-'; |
| WaypointTrimming = 0; |
| } |
| else // Gas Stick in Hover Range |
| { |
| VarioCharacter = '='; |
| if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint > SollHoehe) // von NC gesteuert -> Steigen |
| { |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_UP; |
| AltitudeSetpointTrimming = FromNC_AltitudeSpeed; |
| //HeightTrimming += FromNC_AltitudeSpeed; |
| WaypointTrimming = 10; |
| VarioCharacter = '^'; |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_DOWN) // changed from sinking to rising |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_DOWN; |
| SollHoehe = HoehenWertF; // update setpoint to current heigth |
| } |
| } |
| else |
| if(FromNC_AltitudeSpeed && FromNC_AltitudeSetpoint < SollHoehe) // von NC gesteuert -> sinken |
| { |
| FC_StatusFlags |= FC_STATUS_VARIO_TRIM_DOWN; |
| AltitudeSetpointTrimming = -FromNC_AltitudeSpeed; |
| //HeightTrimming -= FromNC_AltitudeSpeed; |
| WaypointTrimming = -10; |
| VarioCharacter = 'v'; |
| if(FC_StatusFlags & FC_STATUS_VARIO_TRIM_UP) // changed from rising to sinking |
| { |
| FC_StatusFlags &= ~FC_STATUS_VARIO_TRIM_UP; |
| SollHoehe = HoehenWertF; // update setpoint to current heigth |
| } |
| } |
| else |
| if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) |
| { |
| if(!WaypointTrimming) LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-200), (HoehenWertF+200)) // max. 2m Unterschied |
| else WaypointTrimming = 0; |
| FC_StatusFlags &= ~(FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| HeightTrimming = 0; |
| if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 500; |
| if(!StartTrigger && HoehenWert > 50) |
| { |
| StartTrigger = 1; |
| } |
| } |
| } |
| // Trim height set point |
| HeightTrimming += AltitudeSetpointTrimming; |
| if(abs(HeightTrimming) > 500) // bei Waypoint-Flug ist das ca. die 500Hz |
| { |
| if(WaypointTrimming) |
| { |
| if(abs(FromNC_AltitudeSetpoint - SollHoehe) < 10) SollHoehe = FromNC_AltitudeSetpoint; |
| else SollHoehe += WaypointTrimming; |
| } |
| else |
| { |
| if(HeightTrimming > 0) SollHoehe += EE_Parameter.Hoehe_Verstaerkung / 3; |
| else SollHoehe -= EE_Parameter.Hoehe_Verstaerkung / 3; |
| } |
| HeightTrimming = 0; |
| LIMIT_MIN_MAX(HoehenWertF, (HoehenWert-1024), (HoehenWert+1024)); // max. 10m Unterschied |
| LIMIT_MIN_MAX(SollHoehe, (HoehenWertF-1500), (HoehenWertF+1500)); // max. 15m Unterschied |
| if(Parameter_ExtraConfig & CFG2_VARIO_BEEP) beeptime = 100; |
| //update hoover gas stick value when setpoint is shifted |
| if(FromNC_AltitudeSpeed == 0) CalcStickGasHover(); |
| /* |
| if(!EE_Parameter.Hoehe_StickNeutralPoint && FromNC_AltitudeSpeed == 0) |
| { |
| StickGasHover = HoverGas/STICK_GAIN; //rescale back to stick value |
| StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning; |
| if(StickGasHover < 70) StickGasHover = 70; |
| else if(StickGasHover > 175) StickGasHover = 175; |
| } |
| */ |
| } |
| if(BaroExpandActive) SollHoehe = HoehenWertF; // update setpoint to current altitude if Expanding is active |
| } //if FCFlags & MKFCFLAG_FLY |
| else |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| ACC_AltitudeFusion(1); // init the ACC and Altitude fusion |
| #endif |
| SollHoehe = HoehenWertF - 2000; |
| if(EE_Parameter.Hoehe_StickNeutralPoint) StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| else StickGasHover = 127; |
| HoverGas = GasMischanteil; |
| VarioCharacter = '.'; |
| } |
| HCGas = HoverGas; // take hover gas (neutral point) |
| } |
| if(HoehenWertF > SollHoehe || !(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) |
| { |
| if(!ACC_AltitudeControl) |
| { |
| // from this point the Heigth Control Algorithm is identical for both versions |
| if(BaroExpandActive) // baro range expanding active |
| { |
| HCGas = HoverGas; // hover while expanding baro adc range |
| HeightDeviation = 0; |
| } // EOF // baro range expanding active |
| else // valid data from air pressure sensor |
| { |
| // ------------------------- P-Part ---------------------------- |
| tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
| LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
| HeightDeviation = (int)(tmp_long); // positive when too high |
| tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| LIMIT_MIN_MAX(tmp_long, -127 * STICK_GAIN, 256 * STICK_GAIN); // more than the full range makes no sense |
| GasReduction = tmp_long; |
| // ------------------------- D-Part 1: Vario Meter ---------------------------- |
| tmp_int = VarioMeter / 8; |
| LIMIT_MIN_MAX(tmp_int, -127, 128); |
| tmp_int = (tmp_int * (long)Parameter_Luftdruck_D) / 4L; // scale to d-gain parameter |
| LIMIT_MIN_MAX(tmp_int,-64 * STICK_GAIN, 64 * STICK_GAIN); |
| if(FC_StatusFlags & (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN)) tmp_int /= 4; // reduce d-part while trimming setpoint |
| else |
| if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) tmp_int /= 8; // reduce d-part in "Deckel" mode |
| GasReduction += tmp_int; |
| } // EOF no baro range expanding |
| // ------------------------ D-Part 2: ACC-Z Integral ------------------------ |
| if(Parameter_Hoehe_ACC_Wirkung) |
| { |
| tmp_long = ((Mess_Integral_Hoch / 128L) * (int32_t) Parameter_Hoehe_ACC_Wirkung) / (128L / STICK_GAIN); |
| LIMIT_MIN_MAX(tmp_long, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| GasReduction += tmp_long; |
| } |
| /* // ------------------------ D-Part 3: GpsZ ---------------------------------- |
| tmp_int = (Parameter_Hoehe_GPS_Z * (int)FromNaviCtrl_Value.GpsZ)/128L; |
| LIMIT_MIN_MAX(tmp_int, -32 * STICK_GAIN, 64 * STICK_GAIN); |
| GasReduction += tmp_int; |
| */ |
| GasReduction = (long)((long)GasReduction * HoverGas) / 512; // scale to the gas value |
| // ------------------------ ---------------------------------- |
| HCGas -= GasReduction; |
| // limit deviation from hoover point within the target region |
| if(!AltitudeSetpointTrimming && HoverGas > 0) // height setpoint is not changed and hoover gas not zero |
| { |
| unsigned int tmp; |
| tmp = abs(HeightDeviation); |
| if(tmp <= 60) |
| { |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limit gas around the hoover point |
| } |
| else |
| { |
| tmp = (tmp - 60) / 32; |
| if(tmp > 15) tmp = 15; |
| if(HeightDeviation > 0) |
| { |
| tmp = (HoverGasMin * (16 - tmp)) / 16; |
| LIMIT_MIN_MAX(HCGas, tmp, HoverGasMax); // limit gas around the hoover point |
| } |
| else |
| { |
| tmp = (HoverGasMax * (tmp + 16)) / 16; |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, tmp); // limit gas around the hoover point |
| } |
| } |
| } |
| // strech control output by inverse attitude projection 1/cos |
| // + 1/cos(angle) ++++++++++++++++++++++++++ |
| tmp_long2 = (int32_t)HCGas; |
| tmp_long2 *= 8192L; |
| tmp_long2 /= CosAttitude; |
| HCGas = (int16_t)tmp_long2; |
| // update height control gas averaging |
| FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
| // limit height control gas pd-control output |
| LIMIT_MIN_MAX(FilterHCGas, EE_Parameter.Hoehe_MinGas * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN); |
| // set GasMischanteil to HeightControlGasFilter |
| if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
| { // old version |
| LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
| GasMischanteil = FilterHCGas; |
| } |
| else GasMischanteil = FilterHCGas + (GasMischanteil - HoverGas) / 4; // only in Vario-Mode |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| else // ACC-Altitude control |
| { |
| // from this point the Heigth Control Algorithm is identical for both versions |
| if(BaroExpandActive) // baro range expanding active |
| { |
| HCGas = HoverGas; // hover while expanding baro adc range |
| HeightDeviation = 0; |
| } // EOF // baro range expanding active |
| else // valid data from air pressure sensor |
| { |
| // ------------------------- P-Part ---------------------------- |
| tmp_long = (HoehenWertF - SollHoehe); // positive when too high |
| LIMIT_MIN_MAX(tmp_long, -32767L, 32767L); // avoid overflov when casting to int16_t |
| HeightDeviation = (int)(tmp_long); // positive when too high |
| tmp_long = (tmp_long * (long)Parameter_Hoehe_P) / 32L; // p-part |
| LIMIT_MIN_MAX(tmp_long, -511 * STICK_GAIN, 512 * STICK_GAIN); // more than full range makes sense |
| GasReduction = tmp_long; |
| // ------------------------ D-Part: ACC-Z Integral ------------------------ |
| tmp_long = VarioMeter + (AdWertAccHoch * Parameter_Hoehe_ACC_Wirkung)/256; |
| // ------------------------- D-Part: Vario Meter ---------------------------- |
| if(WaypointTrimming) { |
| Variance = AltitudeSetpointTrimming * 8; |
| } else { |
| Variance = AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung*9/32; |
| } |
| tmp_long -= (long)Variance; |
| tmp_long = (tmp_long * (long)Parameter_Luftdruck_D) / 32; // scale to d-gain parameter |
| LIMIT_MIN_MAX(tmp_long,-511 * STICK_GAIN, 512 * STICK_GAIN); |
| GasReduction += tmp_long; |
| } // EOF no baro range expanding |
| HCGas -= GasReduction; |
| LIMIT_MIN_MAX(HCGas, HoverGasMin, HoverGasMax); // limits gas around hover point |
| // strech control output by inverse attitude projection 1/cos |
| // + 1/cos(angle) ++++++++++++++++++++++++++ |
| tmp_long2 = (int32_t)HCGas; |
| tmp_long2 *= 8192L; |
| tmp_long2 /= CosAttitude; |
| HCGas = (int16_t)tmp_long2; |
| // update height control gas averaging |
| FilterHCGas = (FilterHCGas * (HC_GAS_AVERAGE - 1) + HCGas) / HC_GAS_AVERAGE; |
| // limit height control gas pd-control output |
| int min; |
| if(GasIsZeroCnt > 400 || (FC_StatusFlags2 & FC_STATUS2_WAIT_FOR_TAKEOFF)) min = EE_Parameter.Gas_Min; else min = EE_Parameter.Hoehe_MinGas; |
| LIMIT_MIN_MAX(FilterHCGas, min * STICK_GAIN, (MAX_GAS - 20) * STICK_GAIN) |
| // set GasMischanteil to HeightControlGasFilter |
| if(Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT) |
| { // old version |
| LIMIT_MAX(FilterHCGas, GasMischanteil); // nicht mehr als Gas |
| GasMischanteil = FilterHCGas; |
| } |
| else GasMischanteil = FilterHCGas; |
| } // end of ACC-Altitude control |
| #endif |
| } |
| }// EOF height control active |
| else // HC not active |
| { |
| //update hoover gas stick value when HC is not active |
| CalcStickGasHover(); |
| /* if(!EE_Parameter.Hoehe_StickNeutralPoint) |
| { |
| StickGasHover = HoverGas/STICK_GAIN; // rescale back to stick value |
| StickGasHover = (unsigned int)((unsigned int) StickGasHover * UBat) / BattLowVoltageWarning; |
| } |
| else StickGasHover = EE_Parameter.Hoehe_StickNeutralPoint; |
| LIMIT_MIN_MAX(StickGasHover, 70, 175); // reserve some range for trim up and down |
| */ |
| FilterHCGas = GasMischanteil; |
| // set both flags to indicate no vario mode |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| FC_StatusFlags2 &= ~FC_STATUS2_ALTITUDE_CONTROL; |
| } |
| // Hover gas estimation by averaging gas control output on small z-velocities |
| // this is done only if height contol option is selected in global config and aircraft is flying |
| if((FC_StatusFlags & FC_STATUS_FLY))// && !(FC_SatusFlags & FC_STATUS_EMERGENCY_LANDING)) |
| { |
| //if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(GasMischanteil); // init estimation |
| if(HoverGasFilter == 0 || StartTrigger == 1) HoverGasFilter = HOVER_GAS_AVERAGE * (unsigned long)(HoverGas); // 0.90f: geändert |
| if(StartTrigger == 1) StartTrigger = 2; |
| tmp_long2 = (int32_t)GasMischanteil; // take current thrust |
| tmp_long2 *= CosAttitude; // apply attitude projection |
| tmp_long2 /= 8192; |
| // average vertical projected thrust |
| if(modell_fliegt < 4000) // the first 8 seconds |
| { // reduce the time constant of averaging by factor of 4 to get much faster a stable value |
| HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/16L); |
| HoverGasFilter += 16L * tmp_long2; |
| } |
| if(modell_fliegt < 8000) // the first 16 seconds |
| { // reduce the time constant of averaging by factor of 2 to get much faster a stable value |
| HoverGasFilter -= HoverGasFilter/(HOVER_GAS_AVERAGE/4L); |
| HoverGasFilter += 4L * tmp_long2; |
| } |
| else //later |
| if(abs(VarioMeter) < 100 && abs(HoehenWertF - SollHoehe) < 256) // only on small vertical speed & difference is small (only descending) |
| { |
| HoverGasFilter -= HoverGasFilter/HOVER_GAS_AVERAGE; |
| HoverGasFilter += tmp_long2; |
| } |
| HoverGas = (int16_t)(HoverGasFilter/HOVER_GAS_AVERAGE); |
| if(EE_Parameter.Hoehe_HoverBand) |
| { |
| int16_t band; |
| band = HoverGas / EE_Parameter.Hoehe_HoverBand; // the higher the parameter the smaller the range |
| HoverGasMin = HoverGas - band; |
| HoverGasMax = HoverGas + band; |
| } |
| else |
| { // no limit |
| HoverGasMin = 0; |
| HoverGasMax = 1023; |
| } |
| } |
| else |
| { |
| StartTrigger = 0; |
| HoverGasFilter = 0; |
| HoverGas = 0; |
| } |
| }// EOF Parameter_GlobalConfig & CFG_HEIGHT_CONTROL |
| else |
| { |
| // set undefined state to indicate vario off |
| FC_StatusFlags |= (FC_STATUS_VARIO_TRIM_UP|FC_STATUS_VARIO_TRIM_DOWN); |
| } // EOF no height control |
| // Limits the maximum gas in case of "Out of Range emergency landing" |
| if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) |
| { |
| if(GasMischanteil/STICK_GAIN > HooverGasEmergencyPercent && HoverGas) GasMischanteil = HooverGasEmergencyPercent * STICK_GAIN; |
| SollHoehe = HoehenWertF; // update setpoint to current heigth |
| } |
| // limit gas to parameter setting |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(TouchDownTimer > 9) GasMischanteil = 1; // gas runter |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| LIMIT_MIN(GasMischanteil, (MIN_GAS + 10) * STICK_GAIN); |
| if(GasMischanteil > (MAX_GAS - 20) * STICK_GAIN) GasMischanteil = (MAX_GAS - 20) * STICK_GAIN; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // all BL-Ctrl connected? |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #ifndef REDUNDANT_FC_SLAVE |
| if(MissingMotor || Capacity.MinOfMaxPWM < 254 || NC_ErrorCode) // wait until all BL-Ctrls started and no Errors |
| if(modell_fliegt > 1 && modell_fliegt < 50 && GasMischanteil > 0) // only during start-phase |
| { |
| modell_fliegt = 1; |
| GasMischanteil = (MIN_GAS + 10) * STICK_GAIN; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(Capacity.MinOfMaxPWM < 40) SpeakHoTT = SPEAK_ERR_MOTOR; |
| #endif |
| } |
| #else // ab hier : Slave |
| if(IamMaster == SLAVE) |
| { |
| if(Partner_StatusFlags3 & FC_STATUS3_MOTORS_STOPPED_BY_RC) |
| { |
| MotorenEin = 0; |
| modell_fliegt = 0; |
| FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
| SpeakHoTT = SPEAK_MK_OFF; |
| } |
| } |
| #endif |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // send SPI pending bytes |
| if(BytegapSPI == 0) SPI_TransmitByte(); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DebugOut.Analog[7] = GasMischanteil; // achtung: Muss auf [7] bleiben wegen SPI.C |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GierMischanteil = MesswertGier - sollGier * STICK_GAIN; // Regler für Gier |
| #define MIN_GIERGAS (40*STICK_GAIN) // unter diesem Gaswert trotzdem Gieren |
| if(GasMischanteil > MIN_GIERGAS) |
| int tmp_int; |
| if(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER) // Regler wird über Schalter gesteuert |
| { |
| if(GierMischanteil > (GasMischanteil / 2)) GierMischanteil = GasMischanteil / 2; |
| if(GierMischanteil < -(GasMischanteil / 2)) GierMischanteil = -(GasMischanteil / 2); |
| if(Parameter_MaxHoehe < 50) |
| { |
| SollHoehe = HoehenWert - 20; // Parameter_MaxHoehe ist der PPM-Wert des Schalters |
| HoehenReglerAktiv = 0; |
| } |
| else |
| HoehenReglerAktiv = 1; |
| } |
| else |
| else |
| { |
| if(GierMischanteil > (MIN_GIERGAS / 2)) GierMischanteil = MIN_GIERGAS / 2; |
| if(GierMischanteil < -(MIN_GIERGAS / 2)) GierMischanteil = -(MIN_GIERGAS / 2); |
| SollHoehe = Parameter_MaxHoehe * EE_Parameter.Hoehe_Verstaerkung - 20; |
| HoehenReglerAktiv = 1; |
| } |
| tmp_int = MAX_GAS*STICK_GAIN; |
| if(GierMischanteil > ((tmp_int - GasMischanteil))) GierMischanteil = ((tmp_int - GasMischanteil)); |
| if(GierMischanteil < -((tmp_int - GasMischanteil))) GierMischanteil = -((tmp_int - GasMischanteil)); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(Notlandung) SollHoehe = 0; |
| h = HoehenWert; |
| if((h > SollHoehe) && HoehenReglerAktiv) // zu hoch --> drosseln |
| { h = ((h - SollHoehe) * (int) Parameter_Hoehe_P) / 16; // Differenz bestimmen --> P-Anteil |
| h = GasMischanteil - h; // vom Gas abziehen |
| h -= (HoeheD * Parameter_Luftdruck_D)/8; // D-Anteil |
| tmp_int = ((Mess_Integral_Hoch / 512) * (signed long) Parameter_Hoehe_ACC_Wirkung) / 32; |
| if(tmp_int > 50) tmp_int = 50; |
| else if(tmp_int < -50) tmp_int = -50; |
| h -= tmp_int; |
| hoehenregler = (hoehenregler*15 + h) / 16; |
| if(hoehenregler < EE_Parameter.Hoehe_MinGas) // nicht unter MIN |
| { |
| if(GasMischanteil >= EE_Parameter.Hoehe_MinGas) hoehenregler = EE_Parameter.Hoehe_MinGas; |
| if(GasMischanteil < EE_Parameter.Hoehe_MinGas) hoehenregler = GasMischanteil; |
| } |
| if(hoehenregler > GasMischanteil) hoehenregler = GasMischanteil; // nicht mehr als Gas |
| GasMischanteil = hoehenregler; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Mischer und PI-Regler |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Gier-Anteil |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| GierMischanteil = MesswertGier - sollGier; // Regler für Gier |
| if(GierMischanteil > 100) GierMischanteil = 100; |
| if(GierMischanteil < -100) GierMischanteil = -100; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Nick-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = MesswertNick - StickNick; // Differenz bestimmen |
| if(IntegralFaktor) SummeNick += IntegralNickMalFaktor - StickNick; // I-Anteil bei Winkelregelung |
| else SummeNick += DiffNick; // I-Anteil bei HH |
| if(SummeNick > (STICK_GAIN * 16000L)) SummeNick = (STICK_GAIN * 16000L); |
| if(SummeNick < -(16000L * STICK_GAIN)) SummeNick = -(16000L * STICK_GAIN); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffNick = Kp * (MesswertNick - (StickNick - GPS_Nick)); // Differenz bestimmen |
| SummeNick += DiffNick; // I-Anteil |
| if(SummeNick > 0) SummeNick-= (abs(SummeNick)/256 + 1); else SummeNick += abs(SummeNick)/256 + 1; |
| if(SummeNick > 16000) SummeNick = 16000; |
| if(SummeNick < -16000) SummeNick = -16000; |
| pd_ergebnis = DiffNick + Ki * SummeNick; // PI-Regler für Nick |
| // Motor Vorn |
| motorwert = GasMischanteil + pd_ergebnis + GierMischanteil; // Mischer |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Vorne = motorwert; |
| // Motor Heck |
| motorwert = GasMischanteil - pd_ergebnis + GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Hinten = motorwert; |
| if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_nick = (EE_Parameter.Gyro_Stability * DiffNick) / 8; // PI-Regler für Nick |
| else pd_ergebnis_nick = ((EE_Parameter.Gyro_Stability / 2) * DiffNick) / 4; // Überlauf verhindern |
| pd_ergebnis_nick += SummeNick / Ki; |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_nick > tmp_int) pd_ergebnis_nick = tmp_int; |
| if(pd_ergebnis_nick < -tmp_int) pd_ergebnis_nick = -tmp_int; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Roll-Achse |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = MesswertRoll - StickRoll; // Differenz bestimmen |
| if(IntegralFaktor) SummeRoll += IntegralRollMalFaktor - StickRoll;// I-Anteil bei Winkelregelung |
| else SummeRoll += DiffRoll; // I-Anteil bei HH |
| if(SummeRoll > (STICK_GAIN * 16000L)) SummeRoll = (STICK_GAIN * 16000L); |
| if(SummeRoll < -(16000L * STICK_GAIN)) SummeRoll = -(16000L * STICK_GAIN); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| DiffRoll = Kp * (MesswertRoll - (StickRoll - GPS_Roll)); // Differenz bestimmen |
| SummeRoll += DiffRoll; // I-Anteil |
| if(SummeRoll > 0) SummeRoll-= (abs(SummeRoll)/256 + 1); else SummeRoll += abs(SummeRoll)/256 + 1; |
| if(SummeRoll > 16000) SummeRoll = 16000; |
| if(SummeRoll < -16000) SummeRoll = -16000; |
| pd_ergebnis = DiffRoll + Ki * SummeRoll; // PI-Regler für Roll |
| // Motor Links |
| motorwert = GasMischanteil + pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Links = motorwert; |
| // Motor Rechts |
| motorwert = GasMischanteil - pd_ergebnis - GierMischanteil; |
| if ((motorwert < 0) | (GasMischanteil < 10)) motorwert = 0; |
| else if(motorwert > MAX_GAS) motorwert = MAX_GAS; |
| if (motorwert < MIN_GAS) motorwert = MIN_GAS; |
| Motor_Rechts = motorwert; |
| // +++++++++++++++++++++++++++++++++++++++++++++++ |
| if(EE_Parameter.Gyro_Stability <= 8) pd_ergebnis_roll = (EE_Parameter.Gyro_Stability * DiffRoll) / 8; // PI-Regler für Roll |
| else pd_ergebnis_roll = ((EE_Parameter.Gyro_Stability / 2) * DiffRoll) / 4; // Überlauf verhindern |
| pd_ergebnis_roll += SummeRoll / Ki; |
| tmp_int = (long)((long)Parameter_DynamicStability * (long)(GasMischanteil + abs(GierMischanteil)/2)) / 64; |
| if(pd_ergebnis_roll > tmp_int) pd_ergebnis_roll = tmp_int; |
| if(pd_ergebnis_roll < -tmp_int) pd_ergebnis_roll = -tmp_int; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // send SPI pending bytes |
| if(BytegapSPI == 0) SPI_TransmitByte(); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Emergency switch-off |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(NCParachute) |
| { |
| MAX_GAS = 1; |
| if(!beeptime) { beeptime = 10000; BeepMuster = 0x1300; } |
| if(NCParachute == (KM_BIT_SLOW | KM_BIT_OFF)) |
| { |
| FC_StatusFlags3 |= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors |
| Delete_Stoppflag_Timer = 2; // 1-2 seconds |
| MotorenEin = 0; |
| modell_fliegt = 0; |
| FC_StatusFlags2 &= ~(FC_STATUS2_WAIT_FOR_TAKEOFF | FC_STATUS2_AUTO_STARTING | FC_STATUS2_AUTO_LANDING); |
| SpeakHoTT = SPEAK_MK_OFF; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Universal Mixer |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| for(i=0; i<MAX_MOTORS; i++) |
| { |
| signed int tmp_int; |
| if(Mixer.Motor[i][0] > 0) |
| { |
| // Gas |
| if(Mixer.Motor[i][0] == 64) tmp_int = GasMischanteil; else tmp_int = ((long)GasMischanteil * Mixer.Motor[i][0]) / 64L; |
| // Nick |
| if(Mixer.Motor[i][1] == 64) tmp_int += pd_ergebnis_nick; |
| else if(Mixer.Motor[i][1] == -64) tmp_int -= pd_ergebnis_nick; |
| else tmp_int += ((long)pd_ergebnis_nick * Mixer.Motor[i][1]) / 64L; |
| // Roll |
| if(Mixer.Motor[i][2] == 64) tmp_int += pd_ergebnis_roll; |
| else if(Mixer.Motor[i][2] == -64) tmp_int -= pd_ergebnis_roll; |
| else tmp_int += ((long)pd_ergebnis_roll * Mixer.Motor[i][2]) / 64L; |
| // Gier |
| if(Mixer.Motor[i][3] == 64) tmp_int += GierMischanteil; |
| else if(Mixer.Motor[i][3] == -64) tmp_int -= GierMischanteil; |
| else tmp_int += ((long)GierMischanteil * Mixer.Motor[i][3]) / 64L; |
| #ifdef REDUNDANT_FC_SLAVE |
| tmp_int = (tmp_motorwert[i] + tmp_int) / 2; |
| #else |
| if(Motor[i].Version & MOTOR_STATE_FAST_MODE || tmp_int > tmp_motorwert[i]) tmp_int = (tmp_motorwert[i] + tmp_int) / 2; // Beschleunigen |
| else |
| { // BL-Ctrl 1.0 or 2.0 |
| if(EE_Parameter.MotorSmooth == 0) |
| { |
| tmp_int = 2 * tmp_int - tmp_motorwert[i]; // original MotorSmoothing |
| } |
| else // 1 means tmp_int = tmp_int; |
| if(EE_Parameter.MotorSmooth > 1) |
| { |
| // If >= 2 then allow >= 50% of the intended step down to rapidly reach the intended value. |
| tmp_int = tmp_int + ((tmp_motorwert[i] - tmp_int) / EE_Parameter.MotorSmooth); |
| } |
| } |
| #endif |
| LIMIT_MIN_MAX(tmp_int,(int) MIN_GAS * 4,(int) MAX_GAS * 4); |
| Motor[i].SetPoint = tmp_int / 4; |
| Motor[i].SetPointLowerBits = (tmp_int % 4)<<1; // (3 bits total) |
| tmp_motorwert[i] = tmp_int; |
| } |
| else |
| { |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| } |
| } |
| #if (defined(REDUNDANT_FC_MASTER) || defined(REDUNDANT_FC_SLAVE)) |
| if(Parameter_UserParam6 > 230) // Motor1-Test |
| { |
| Motor[0].SetPoint = 0; |
| FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_TEST; |
| } |
| else |
| if(Parameter_UserParam7 <= 150) // I2C-Test |
| { |
| FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_TEST; |
| } |
| #endif |
| } |
| //DebugOut.Analog[] |
| /trunk/fc.h |
|---|
| 4,146 → 4,96 |
| #ifndef _FC_H |
| #define _FC_H |
| //#define GIER_GRAD_FAKTOR 1291L // Abhängigkeit zwischen GyroIntegral und Winkel |
| //#define GIER_GRAD_FAKTOR 1160L |
| extern long GIER_GRAD_FAKTOR; // Abhängigkeit zwischen GyroIntegral und Winkel |
| #define STICK_GAIN 4 |
| #define ACC_AMPLIFY 6 |
| #define HEIGHT_CONTROL_STICKTHRESHOLD 15 |
| #define SERVO_FS_TIME 10 // in Seconds |
| #define EXTRN_CTRL_TIMEOUT 15 // in Seconds |
| // FC_StatusFlags |
| #define FC_STATUS_MOTOR_RUN 0x01 |
| #define FC_STATUS_FLY 0x02 |
| #define FC_STATUS_CALIBRATE 0x04 |
| #define FC_STATUS_START 0x08 |
| #define FC_STATUS_EMERGENCY_LANDING 0x10 |
| #define FC_STATUS_LOWBAT 0x20 |
| #define FC_STATUS_VARIO_TRIM_UP 0x40 |
| #define FC_STATUS_VARIO_TRIM_DOWN 0x80 |
| extern volatile unsigned char Timeout; |
| extern unsigned char Sekunde,Minute; |
| extern volatile long IntegralNick,IntegralNick2; |
| extern volatile long IntegralRoll,IntegralRoll2; |
| extern volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| extern volatile long Mess_Integral_Hoch; |
| extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern volatile int KompassValue; |
| extern volatile int KompassStartwert; |
| extern volatile int KompassRichtung; |
| extern int HoehenWert; |
| extern int SollHoehe; |
| extern volatile int MesswertNick,MesswertRoll,MesswertGier; |
| extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch; |
| extern volatile float NeutralAccZ; |
| // FC_StatusFlags2 |
| #define FC_STATUS2_CAREFREE 0x01 |
| #define FC_STATUS2_ALTITUDE_CONTROL 0x02 |
| #define FC_STATUS2_RC_FAILSAVE_ACTIVE 0x04 |
| #define FC_STATUS2_OUT1_ACTIVE 0x08 |
| #define FC_STATUS2_OUT2_ACTIVE 0x10 |
| #define FC_STATUS2_WAIT_FOR_TAKEOFF 0x20 // Motor Running, but still on the ground |
| #define FC_STATUS2_AUTO_STARTING 0x40 |
| #define FC_STATUS2_AUTO_LANDING 0x80 |
| // FC_StatusFlags3 |
| #define FC_STATUS3_REDUNDANCE_AKTIVE 0x01 |
| #define FC_STATUS3_BOAT 0x02 |
| #define FC_STATUS3_REDUNDANCE_ERROR 0x04 |
| #define FC_STATUS3_REDUNDANCE_TEST 0x08 |
| #define FC_STATUS3_NOT_CALIBRATED 0x10 |
| #define FC_STATUS3_MOTORS_STOPPED_BY_RC 0x20 |
| void MotorRegler(void); |
| void SendMotorData(void); |
| void CalibrierMittelwert(void); |
| void Mittelwert(void); |
| void SetNeutral(void); |
| //NC_To_FC_Flags |
| #define NC_TO_FC_FLYING_RANGE 0x01 |
| #define NC_TO_FC_EMERGENCY_LANDING 0x02 // Forces a landing |
| #define NC_TO_FC_AUTOSTART 0x04 |
| #define NC_TO_FC_FAILSAFE_LANDING 0x08 // moves Servos into FS-Position |
| #define NC_TO_FC_SIMULATION_ACTIVE 0x10 // don't start motors |
| #define NC_TO_FC_SWITCHOFF_IF_LANDED 0x20 // switch off if MK is on the ground and doesn't further sink |
| #define NC_TO_FC_OUTSIDE_FLYZONE 0x40 // for the Beep-Signal |
| unsigned char h,m,s; |
| volatile unsigned char Timeout ; |
| unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| volatile long IntegralNick,IntegralNick2; |
| volatile long IntegralRoll,IntegralRoll2; |
| volatile long Integral_Gier; |
| volatile long Mess_IntegralNick,Mess_IntegralNick2; |
| volatile long Mess_IntegralRoll,Mess_IntegralRoll2; |
| volatile long Mess_Integral_Gier; |
| volatile int DiffNick,DiffRoll; |
| extern int Poti1, Poti2, Poti3, Poti4; |
| volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count; |
| unsigned char MotorWert[5]; |
| volatile unsigned char SenderOkay; |
| int StickNick,StickRoll,StickGier; |
| char MotorenEin; |
| extern void DefaultKonstanten(void); |
| extern volatile unsigned char FC_StatusFlags, FC_StatusFlags2; |
| extern unsigned char FC_StatusFlags3; |
| extern unsigned char Partner_StatusFlags, Partner_StatusFlags2,Partner_StatusFlags3; |
| extern void ParameterZuordnung(void); |
| extern unsigned char GetChannelValue(unsigned char ch); // gives the unsigned value of the channel |
| extern void ChannelAssingment(void); |
| extern void StoreNeutralToEeprom(void); |
| #define STRUCT_PARAM_LAENGE 58 |
| struct mk_param_struct |
| { |
| unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3 |
| unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv |
| unsigned char Hoehe_MinGas; // Wert : 0-100 |
| unsigned char Luftdruck_D; // Wert : 0-250 |
| unsigned char MaxHoehe; // Wert : 0-32 |
| unsigned char Hoehe_P; // Wert : 0-32 |
| unsigned char Hoehe_Verstaerkung; // Wert : 0-50 |
| unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250 |
| unsigned char Stick_P; // Wert : 1-6 |
| unsigned char Stick_D; // Wert : 0-64 |
| unsigned char Gier_P; // Wert : 1-20 |
| unsigned char Gas_Min; // Wert : 0-32 |
| unsigned char Gas_Max; // Wert : 33-250 |
| unsigned char GyroAccFaktor; // Wert : 1-64 |
| unsigned char KompassWirkung; // Wert : 0-32 |
| unsigned char Gyro_P; // Wert : 10-250 |
| unsigned char Gyro_I; // Wert : 0-250 |
| unsigned char UnterspannungsWarnung; // Wert : 0-250 |
| unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust |
| unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen |
| unsigned char UfoAusrichtung; // X oder + Formation |
| unsigned char I_Faktor; // Wert : 0-250 |
| unsigned char UserParam1; // Wert : 0-250 |
| unsigned char UserParam2; // Wert : 0-250 |
| unsigned char UserParam3; // Wert : 0-250 |
| unsigned char UserParam4; // Wert : 0-250 |
| unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos |
| unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo |
| unsigned char ServoNickMin; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickMax; // Wert : 0-250 // Anschlag |
| unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo |
| unsigned char Reserved[7]; |
| char Name[12]; |
| }; |
| #define Poti1 Poti[0] |
| #define Poti2 Poti[1] |
| #define Poti3 Poti[2] |
| #define Poti4 Poti[3] |
| #define Poti5 Poti[4] |
| #define Poti6 Poti[5] |
| #define Poti7 Poti[6] |
| #define Poti8 Poti[7] |
| #define LIMIT_MIN(value, min) {if(value <= min) value = min;} |
| #define LIMIT_MAX(value, max) {if(value >= max) value = max;} |
| #define LIMIT_MIN_MAX(value, min, max) {if(value <= min) value = min; else if(value >= max) value = max;} |
| #define CHK_POTI(b,a) {if(a < 248) b = a; else b = Poti[255 - a];} |
| #define CHK_POTI_OFF(b,a,off) {if(a < 248) b = a; else b = Poti[255 - a] - off;} |
| #define CHK_POTI_MM(b,a,min,max) {CHK_POTI(b,a); LIMIT_MIN_MAX(b, min, max);} |
| #define CHK_POTI_MM_OFF(b,a,min,max,off) {CHK_POTI_OFF(b,a,off); LIMIT_MIN_MAX(b, min, max);} |
| extern unsigned char Sekunde,Minute; |
| extern unsigned int BaroExpandActive; |
| extern long IntegralNick;//,IntegralNick2; |
| extern long IntegralRoll;//,IntegralRoll2; |
| //extern int IntegralNick,IntegralNick2; |
| //extern int IntegralRoll,IntegralRoll2; |
| extern unsigned char Poti[9]; |
| extern struct mk_param_struct EE_Parameter; |
| extern long Mess_IntegralNick;//,Mess_IntegralNick2; |
| extern long Mess_IntegralRoll;//,Mess_IntegralRoll2; |
| extern long IntegralAccNick,IntegralAccRoll; |
| extern long SummeNick,SummeRoll; |
| extern volatile long Mess_Integral_Hoch; |
| extern long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2; |
| extern int KompassValue; |
| extern int KompassSollWert,NC_CompassSetpoint; |
| extern int KompassRichtung; |
| extern char CalculateCompassTimer; |
| extern unsigned char KompassFusion; |
| extern unsigned char ControlHeading; |
| extern int TrimNick, TrimRoll; |
| extern long ErsatzKompass; |
| extern int ErsatzKompassInGrad,CompassCorrected,OrientationCompassCorrected; // Kompasswert in Grad |
| extern long HoehenWert; |
| extern long SollHoehe; |
| extern long FromNC_AltitudeSetpoint; |
| extern unsigned char FromNC_AltitudeSpeed; |
| extern unsigned char Parameter_HoehenSchalter; // Wert : 0-250 |
| extern unsigned char CareFree; |
| extern int MesswertNick,MesswertRoll,MesswertGier; |
| extern int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll; |
| extern int BoatNeutralNick,BoatNeutralRoll,BoatNeutralGier; |
| extern unsigned int NeutralAccX, NeutralAccY; |
| extern unsigned char HoehenReglerAktiv; |
| extern int NeutralAccZ; |
| extern signed char NeutralAccZfine; |
| extern long Umschlag180Nick, Umschlag180Roll; |
| extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8; |
| extern int NaviAccNick,NaviAccRoll,NaviCntAcc; |
| extern unsigned int modell_fliegt; |
| extern void MotorRegler(void); |
| extern void SendMotorData(void); |
| //void CalibrierMittelwert(void); |
| //void Mittelwert(void); |
| extern unsigned char SetNeutral(unsigned char AccAdjustment); // retuns: "sucess" |
| extern void Piep(unsigned char Anzahl, unsigned int dauer); |
| extern void CopyDebugValues(void); |
| extern unsigned char ACC_AltitudeControl; |
| extern signed int CosAttitude; // for projection of hoover gas |
| extern unsigned char h,m,s; |
| extern int StickNick,StickRoll,StickGier,StickGas; |
| extern volatile unsigned char Timeout ; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern int DiffNick,DiffRoll; |
| //extern int Poti1, Poti2, Poti3, Poti4; |
| extern volatile unsigned char SenderOkay; |
| unsigned char ReceiverOkay; |
| extern int StickNick,StickRoll,StickGier; |
| extern char MotorenEin; |
| extern unsigned char CalibrationDone; |
| extern unsigned char Parameter_Servo3,Parameter_Servo4,Parameter_Servo5; |
| extern char VarioCharacter; |
| extern signed int AltitudeSetpointTrimming; |
| extern signed char WaypointTrimming; |
| extern int HoverGas; |
| extern unsigned char Parameter_Luftdruck_D; |
| //extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_MaxHoehe; |
| extern unsigned char Parameter_Hoehe_P; |
| extern unsigned char Parameter_Hoehe_ACC_Wirkung; |
| extern unsigned char Parameter_KompassWirkung; |
| 151,32 → 101,6 |
| extern unsigned char Parameter_Gyro_I; |
| extern unsigned char Parameter_Gier_P; |
| extern unsigned char Parameter_ServoNickControl; |
| extern unsigned char Parameter_ServoRollControl; |
| extern unsigned char Parameter_ServoNickComp; |
| extern unsigned char Parameter_ServoRollComp; |
| extern unsigned char Parameter_AchsKopplung1; |
| extern unsigned char Parameter_AchsKopplung2; |
| extern unsigned char Parameter_ExternalControl; |
| //extern unsigned char Parameter_AchsGegenKopplung1; |
| extern unsigned char Parameter_J16Bitmask; // for the J16 Output |
| extern unsigned char Parameter_J16Timing; // for the J16 Output |
| extern unsigned char Parameter_J17Bitmask; // for the J17 Output |
| extern unsigned char Parameter_J17Timing; // for the J17 Output |
| extern unsigned char Parameter_GlobalConfig; |
| extern unsigned char Parameter_ExtraConfig; |
| extern signed char MixerTable[MAX_MOTORS][4]; |
| extern const signed char sintab[31]; |
| extern unsigned char LowVoltageLandingActive; |
| extern unsigned char LowVoltageHomeActive; |
| extern unsigned char Parameter_MaximumAltitude; |
| extern char NeueKompassRichtungMerken; |
| extern unsigned char ServoFailsafeActive; |
| extern unsigned char Parameter_HoehenSchalter; |
| extern unsigned char Parameter_GPS_Switch; |
| extern unsigned char Parameter_CareFree_Switch; |
| extern unsigned char Parameter_Autoland_Switch; |
| extern unsigned char Parameter_LaserAltitude; |
| extern signed char BaroExpandCnt; |
| #endif //_FC_H |
| /trunk/flight.pnproj |
|---|
| 1,0 → 0,0 |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="jeti.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File><File path="spi.h"></File><File path="spi.c"></File><File path="led.h"></File><File path="led.c"></File><File path="fc.c"></File><File path="mymath.c"></File><File path="mymath.h"></File><File path="isqrt.S"></File><File path="Spektrum.c"></File><File path="Spektrum.h"></File><File path="eeprom.h"></File><File path="eeprom.c"></File><File path="libfc.h"></File><File path="debug.c"></File><File path="debug.h"></File><File path="hottmenu.c"></File><File path="hottmenu.h"></File></Project> |
| <Project name="Flight-Ctrl"><File path="uart.h"></File><File path="main.c"></File><File path="main.h"></File><File path="makefile"></File><File path="uart.c"></File><File path="printf_P.h"></File><File path="printf_P.c"></File><File path="timer0.c"></File><File path="timer0.h"></File><File path="old_macros.h"></File><File path="twimaster.c"></File><File path="version.txt"></File><File path="twimaster.h"></File><File path="rc.c"></File><File path="rc.h"></File><File path="fc.h"></File><File path="fc.c"></File><File path="menu.h"></File><File path="menu.c"></File><File path="_Settings.h"></File><File path="analog.c"></File><File path="analog.h"></File><File path="GPS.c"></File><File path="gps.h"></File><File path="License.txt"></File></Project> |
| /trunk/gps.h |
|---|
| 1,3 → 1,4 |
| extern signed int GPS_Nick; |
| extern signed int GPS_Roll; |
| extern unsigned char GPS_Aid_StickMultiplikator; |
| extern void GPS_Neutral(void); |
| extern void GPS_BerechneZielrichtung(void); |
| /trunk/main.c |
|---|
| 1,285 → 1,81 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // + 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. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // + 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 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // + 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 DisableRcOffBeeping = 1; |
| unsigned char PlatinenVersion = 10; |
| unsigned char BattLowVoltageWarning = 94; |
| unsigned char BattAutoLandingVoltage = 0, BattComingHomeVoltage = 0; |
| unsigned int FlugMinuten = 0,FlugMinutenGesamt = 0; |
| unsigned int FlugSekunden = 0; |
| pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| unsigned char FoundMotors = 0; |
| unsigned char JetiBeep = 0; // to allow any Morse-Beeping of the Jeti-Box |
| unsigned char ActiveParamSet = 3; |
| unsigned char LipoCells = 4; |
| unsigned char IamMaster = 0; |
| unsigned char Delete_Stoppflag_Timer = 0; |
| unsigned char OEM_String[17] = "Booting... \0\0\0\0\0"; |
| unsigned char TouchDownTimer = 0; |
| unsigned char TimerSpeakReady = 0; |
| void PrintLine(void) |
| unsigned char EEPromArray[E2END+1] EEMEM; |
| // -- Parametersatz aus EEPROM lesen --- |
| // number [0..5] |
| void ReadParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| printf("\r\n==================================="); |
| } |
| if (number > 5) number = 5; |
| eeprom_read_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| void CalMk3Mag(void) |
| { |
| static unsigned char stick = 1; |
| ChannelAssingment(); |
| if(ChannelNick > -20) stick = 0; |
| if((ChannelNick < -70) && !stick) |
| { |
| stick = 1; |
| WinkelOut.CalcState++; |
| if(WinkelOut.CalcState > 4) |
| { |
| // WinkelOut.CalcState = 0; // in SPI.c |
| beeptime = 1000; |
| } |
| else Piep(WinkelOut.CalcState,150); |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| ShowCmpsCalibrateTime = 6; |
| #endif |
| } |
| void LipoDetection(unsigned char print) |
| { |
| unsigned int warning; |
| #define MAX_CELL_VOLTAGE 43 // max cell voltage for LiPO |
| if(print) |
| { |
| printf("\r\nBatt:"); |
| LipoCells = 1 + UBat / MAX_CELL_VOLTAGE; |
| if(LipoCells > 6) LipoCells = 6; |
| } |
| if(EE_Parameter.UnterspannungsWarnung < 50) |
| { |
| warning = LipoCells * EE_Parameter.UnterspannungsWarnung; |
| if(print) |
| { |
| Piep(LipoCells, 200); |
| printf(" %d Cells ", LipoCells); |
| } |
| } |
| else warning = EE_Parameter.UnterspannungsWarnung; |
| if(warning > 255) warning = 255; BattLowVoltageWarning = warning; |
| // automatische Zellenerkennung |
| if(EE_Parameter.AutoLandingVoltage < 50) warning = LipoCells * EE_Parameter.AutoLandingVoltage; else warning = EE_Parameter.AutoLandingVoltage; |
| if(warning > 255) warning = 255; BattAutoLandingVoltage = warning; |
| if(EE_Parameter.ComingHomeVoltage < 50) warning = LipoCells * EE_Parameter.ComingHomeVoltage; else warning = EE_Parameter.ComingHomeVoltage; |
| if(warning > 255) warning = 255; BattComingHomeVoltage = warning; |
| if(BattAutoLandingVoltage > BattLowVoltageWarning) BattAutoLandingVoltage = BattLowVoltageWarning - 1; |
| if(BattComingHomeVoltage >= BattLowVoltageWarning) BattComingHomeVoltage = BattLowVoltageWarning - 1; |
| if(BattAutoLandingVoltage >= BattComingHomeVoltage && EE_Parameter.ComingHomeVoltage) BattAutoLandingVoltage = BattComingHomeVoltage - 1; |
| if(print) |
| { |
| printf(" Low warning: %d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| if(BattComingHomeVoltage) printf(" Auto-CH: %d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
| if(BattAutoLandingVoltage) printf(" Autolanding: %d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
| } |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| void LoadStoreSingleWP(void) |
| // -- Parametersatz ins EEPROM schreiben --- |
| // number [0..5] |
| void WriteParameterSet(unsigned char number, unsigned char *buffer, unsigned char length) |
| { |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| // + Load/Store one single point |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| static unsigned char switch_hyterese = 0, hyterese = 1, wp_tmp_s = 0, wp_tmp_l = 0; |
| static int delay; |
| if (number > 5) number = 5; |
| eeprom_write_block(buffer, &EEPromArray[EEPROM_ADR_PARAM_BEGIN + length * number], length); |
| if(PPM_in[EE_Parameter.SingleWpControlChannel] > 50) // Switch Up -> load |
| { |
| if(switch_hyterese == 1 || switch_hyterese == 3) |
| { |
| ToNC_Load_SingePoint = 1; |
| switch_hyterese = 2; |
| SpeakHoTT = SPEAK_STARTING_WP; |
| Show_Load_Time = 5; |
| Show_Load_Value = 1; |
| wp_tmp_l = 1; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bedienung per Taster am Sender |
| if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
| { |
| hyterese = 2; |
| if(CheckDelay(delay)) { wp_tmp_l = 0; hyterese = 1;} |
| } |
| else |
| if(PPM_in[EE_Parameter.MenuKeyChannel] < 0) |
| { |
| delay = SetDelay(2500); |
| if(hyterese == 2 && (wp_tmp_l < NaviData_MaxWpListIndex)) |
| { |
| wp_tmp_l++; |
| ToNC_Load_SingePoint = wp_tmp_l; |
| Show_Load_Time = 5; |
| Show_Load_Value = wp_tmp_l; |
| // SpeakHoTT = SPEAK_NEXT_WP; |
| } |
| hyterese = 0; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| } |
| else |
| if(PPM_in[EE_Parameter.SingleWpControlChannel] < -50) // Switch Down -> store |
| { |
| if(switch_hyterese == 1 || switch_hyterese == 2) |
| { |
| ToNC_Store_SingePoint = 1; |
| switch_hyterese = 3; |
| // SpeakHoTT = SPEAK_MIKROKOPTER; |
| Show_Store_Time = 5; |
| Show_Store_Value = 1; |
| wp_tmp_s = 1; |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Bedienung per Taster am Sender |
| if(PPM_in[EE_Parameter.MenuKeyChannel] > 50) // |
| { |
| hyterese = 2; |
| if(CheckDelay(delay)) { wp_tmp_s = 0; hyterese = 1;} |
| } |
| else |
| if(PPM_in[EE_Parameter.MenuKeyChannel] < 0) |
| { |
| delay = SetDelay(2500); |
| if(hyterese == 2 && (wp_tmp_s < NaviData_MaxWpListIndex)) |
| { |
| wp_tmp_s++; |
| ToNC_Store_SingePoint = wp_tmp_s; |
| Show_Store_Time = 5; |
| Show_Store_Value = wp_tmp_s; |
| // SpeakHoTT = SPEAK_MIKROKOPTER; |
| } |
| hyterese = 0; |
| } |
| } |
| else // Middle |
| { |
| switch_hyterese = 1; |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], number); // diesen Parametersatz als aktuell merken |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| #endif |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // check if ServoControl is serial Poti and if yes: check if there is valid data |
| void InitSerialPoti(void) |
| unsigned char GetActiveParamSetNumber(void) |
| { |
| unsigned char i; |
| if(!SerialChannelDataOkay) |
| { |
| if(EE_Parameter.ServoNickControl >= 248) // Poti-Value |
| { |
| i = 255 - EE_Parameter.ServoNickControl; // Poti-number |
| i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
| { |
| if(EE_Parameter.ServoFS_Pos[0]) PPM_in[i] = EE_Parameter.ServoFS_Pos[0] - 127; // there is a failsafe position |
| else PPM_in[i] = 0; // middle position |
| } |
| } |
| if(EE_Parameter.ServoRollControl >= 248) // Poti-Value |
| { |
| i = 255 - EE_Parameter.ServoRollControl; // Poti-number |
| i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
| { |
| if(EE_Parameter.ServoFS_Pos[1]) PPM_in[i] = EE_Parameter.ServoFS_Pos[1] - 127; |
| else PPM_in[i] = 0; // middle position |
| } |
| } |
| if(EE_Parameter.Servo3 >= 248) // Poti-Value |
| { |
| i = 255 - EE_Parameter.Servo3; // Poti-number |
| i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
| { |
| if(EE_Parameter.ServoFS_Pos[2]) PPM_in[i] = EE_Parameter.ServoFS_Pos[2] - 127; |
| else PPM_in[i] = 0; // middle position |
| } |
| } |
| if(EE_Parameter.Servo4 >= 248) // Poti-Value |
| { |
| i = 255 - EE_Parameter.Servo4; // Poti-number |
| i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
| { |
| if(EE_Parameter.ServoFS_Pos[3]) PPM_in[i] = EE_Parameter.ServoFS_Pos[3] - 127; |
| else PPM_in[i] = 0; // middle position |
| } |
| } |
| if(EE_Parameter.Servo5 >= 248) // Poti-Value |
| { |
| i = 255 - EE_Parameter.Servo5; // Poti-number |
| i = EE_Parameter.Kanalbelegung[K_POTI1 + i]; |
| if(i >= SERIAL_POTI_START && i <= SERIAL_POTI_END) // value comes from a serial poti |
| { |
| if(EE_Parameter.ServoFS_Pos[4]) PPM_in[i] = EE_Parameter.ServoFS_Pos[4] - 127; |
| else PPM_in[i] = 0; // middle position |
| } |
| } |
| } |
| return(eeprom_read_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET])); |
| } |
| //############################################################################ |
| 287,609 → 83,128 |
| int main (void) |
| //############################################################################ |
| { |
| unsigned int timer,i,timer2 = 0, timerPolling; |
| unsigned char update_spi = 1; |
| DDRB = 0x00; |
| PORTB = 0x00; |
| DDRD = 0x0A; // UART & J3 J4 J5 |
| PORTD = 0x7F; // PPM-Input & UART |
| for(timer = 0; timer < 1000; timer++); // verzögern |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| unsigned char AccZ_ErrorCnt = 0; |
| if(PINB & 0x02) |
| { |
| if(PIND & 0x10) PlatinenVersion = 21; // No Bridge from J4 to GND |
| else { PlatinenVersion = 22; ACC_AltitudeControl = 1;}; |
| } |
| else |
| { |
| PlatinenVersion = LIBFC_Get_HW_Version(25); |
| ACC_AltitudeControl = 1; |
| J4Low; |
| } |
| /* |
| if(PlatinenVersion >= 30) -> wird noch der #define gemacht |
| { |
| if(!(PIND & 0x20)) IamMaster = SLAVE; // Slave |
| else IamMaster = MASTER; // Master |
| } |
| */ |
| #else |
| if(PINB & 0x01) |
| { |
| if(PINB & 0x02) PlatinenVersion = 13; |
| else PlatinenVersion = 11; |
| } |
| else |
| { |
| if(PINB & 0x02) PlatinenVersion = 20; |
| else |
| { |
| PlatinenVersion = 10; |
| DDRD = 0x3E; // Speaker & TXD & J3 J4 J5 |
| PORTD = 0x47; // |
| } |
| } |
| #endif |
| unsigned int timer; |
| unsigned int timer2 = 0; |
| DDRC = 0x81; // I2C, Spaker |
| DDRC |=0x40; // HEF4017 Reset |
| DDRC = 0x01; // SCL |
| PORTC = 0xff; // Pullup SDA |
| DDRB = 0x1B; // LEDs und Druckoffset |
| PORTB = 0x05; // LED_Rot & pullup on PB2 (RC-Voltage detection) |
| HEF4017Reset_ON; |
| 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 = 2500; |
| StickGier = 0; StickRoll = 0; StickNick = 0; |
| if(PlatinenVersion >= 20) GIER_GRAD_FAKTOR = 1220; else GIER_GRAD_FAKTOR = 1291; // unterschiedlich für ME und ENC |
| beeptime = 2000; |
| StickGier = 0; PPM_in[K_GAS] = 0;StickRoll = 0; StickNick = 0; |
| ROT_OFF; |
| GRN_ON; |
| Timer_Init(); |
| TIMER2_Init(); |
| UART_Init(); |
| rc_sum_init(); |
| ADC_Init(); |
| I2C_Init(1); |
| SPI_MasterInit(); |
| Capacity_Init(); |
| LIBFC_Init(LIB_FC_COMPATIBLE); |
| i2c_init(); |
| sei(); |
| VersionInfo.Hauptversion = VERSION_HAUPTVERSION; |
| VersionInfo.Nebenversion = VERSION_NEBENVERSION; |
| VersionInfo.PCKompatibel = VERSION_KOMPATIBEL; |
| printf("\n\rFlightControl V%d.%d ", VERSION_HAUPTVERSION, VERSION_NEBENVERSION); |
| printf("\n\r=============================="); |
| GRN_ON; |
| sei(); |
| printf("\r\nBaudrate:%u00",Baudrate_100); |
| ParamSet_Init(); |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(PlatinenVersion < 20) |
| { |
| wdt_enable(WDTO_250MS); // Reset-Commando |
| while(1) printf("\r\nOld FC Hardware not supported by this Firmware!"); |
| if(eeprom_read_byte(&EEPromArray[EEPROM_ADR_VALID]) != 59) // seit V 0.60 |
| { |
| printf("\n\rInit. EEPROM: Generiere Default-Parameter..."); |
| DefaultKonstanten1(); |
| for (unsigned char i=0;i<6;i++) |
| { |
| if(i==2) DefaultKonstanten2(); |
| WriteParameterSet(i, (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_ACTIVE_SET], 1); |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_VALID], 59); |
| } |
| #ifndef REDUNDANT_FC_SLAVE |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Check connected BL-Ctrls |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Check connected BL-Ctrls |
| BLFlags |= BLFLAG_READ_VERSION; |
| motor_read = 0; // read the first I2C-Data |
| for(i=0; i < 500; i++) |
| { |
| SendMotorData(); |
| timer = SetDelay(5); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| } |
| printf("\r\nFound BL-Ctrl: "); |
| // timer = SetDelay(1000); |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| // SendMotorData(); |
| // while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
| { |
| while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
| { |
| if((BLFlags & BLFLAG_TX_COMPLETE)) SendMotorData(); |
| //while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| } |
| } |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| unsigned char vers; |
| printf("%d",(i+1)%10); |
| FoundMotors++; |
| vers = Motor[i].VersionMajor * 100 + Motor[i].VersionMinor; // creates 104 from 1.04 |
| if(vers && VersionInfo.BL_Firmware > vers) VersionInfo.BL_Firmware = vers; |
| //if(Motor[i].Version & MOTOR_STATE_FAST_MODE) printf("(fast)"); |
| //if(Motor[i].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) printf("(new)"); |
| //printf(":V%03d\r\n",vers); |
| } |
| } |
| for(i=0; i < MAX_MOTORS; i++) |
| { |
| if(!(Motor[i].State & MOTOR_STATE_PRESENT_MASK) && Mixer.Motor[i][0] > 0) |
| { |
| printf("\r\n\r\n!! MISSING BL-CTRL: %d !!",i+1); |
| ServoActive = 2; // just in case the FC would be used as camera-stabilizer |
| } |
| Motor[i].State &= ~MOTOR_STATE_ERROR_MASK; // clear error counter |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(VersionInfo.BL_Firmware != 255) |
| { |
| printf("\r\nBL-Firmware %d.%02d",VersionInfo.BL_Firmware/100,VersionInfo.BL_Firmware%100); |
| if(VersionInfo.BL_Firmware >= 100 && VersionInfo.BL_Firmware <= 102) printf("<-- warning old Version!"); |
| } |
| #endif |
| ReadParameterSet(GetActiveParamSetNumber(), (unsigned char *) &EE_Parameter.Kanalbelegung[0], STRUCT_PARAM_LAENGE); |
| printf("\n\rBenutze Parametersatz %d", GetActiveParamSetNumber()); |
| PrintLine();// ("\r\n==================================="); |
| if(RequiredMotors < FoundMotors) VersionInfo.HardwareError[1] |= FC_ERROR1_MIXER; |
| if(RequiredMotors > 8) Max_I2C_Packets = 8; else Max_I2C_Packets = RequiredMotors; |
| #else |
| printf("\r\n\r\n--> REDUNDANT SLAVE <---\r\n"); |
| IamMaster = SLAVE; |
| #endif |
| #ifdef REDUNDANT_FC_MASTER |
| printf("\r\n\r\n--> REDUNDANT MASTER <---\r\n"); |
| IamMaster = MASTER; |
| #endif |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Calibrating altitude sensor |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\r\nCalibrating pressure sensor.."); |
| timer = SetDelay(1000); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\r\n"); |
| if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
| { |
| printf("\n\rAbgleich Luftdrucksensor.."); |
| timer = SetDelay(2500); |
| SucheLuftruckOffset(); |
| while (!CheckDelay(timer)); |
| printf("OK\n\r"); |
| } |
| SetNeutral(); |
| #ifdef REDUNDANT_FC_SLAVE |
| VersionInfo.HardwareError[0] = 0; |
| VersionInfo.HardwareError[1] = 0; |
| #endif |
| SetNeutral(0); |
| ROT_OFF; |
| beeptime = 2000; |
| DebugIn.Analog[1] = 1000; |
| DebugIn.Digital[0] = 0x55; |
| FlugMinuten = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES + 1); |
| FlugMinutenGesamt = (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL) * 256 + (unsigned int)GetParamByte(PID_FLIGHT_MINUTES_TOTAL + 1); |
| if((FlugMinutenGesamt == 0xFFFF) || (FlugMinuten == 0xFFFF)) |
| { |
| FlugMinuten = 0; |
| FlugMinutenGesamt = 0; |
| } |
| printf("\r\nFlight-time %u min Total:%u min", FlugMinuten, FlugMinutenGesamt); |
| printf("\n\rSteuerung: "); |
| if (EE_Parameter.GlobalConfig & CFG_HEADING_HOLD) printf("HeadingHold"); |
| else printf("Neutral"); |
| printf("\n\n\r"); |
| LcdClear(); |
| I2CTimeout = 5000; |
| WinkelOut.Orientation = 1; |
| LipoDetection(1); |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| PrintLine();// ("\r\n==================================="); |
| //SpektrumBinding(); |
| timer = SetDelay(2000); |
| timerPolling = SetDelay(250); |
| Debug(ANSI_CLEAR "FC-Start!\r\nFlugzeit: %d min", FlugMinutenGesamt); // Note: this won't waste flash memory, if #DEBUG is not active |
| if(PARAMSET_STRUCT_LEN != 179) while(1) printf("\r\nEE_Parameter size:%i", PARAMSET_STRUCT_LEN); |
| DebugOut.Status[0] = 0x01 | 0x02; |
| JetiBeep = 0; |
| if(!(EE_Parameter.ExtraConfig & CFG_NO_RCOFF_BEEPING)) DisableRcOffBeeping = 0; |
| ReadBlSize = 3; // don't read the version any more |
| if(PlatinenVersion < 30) OEM_String[0] = 0xff; |
| #ifdef REDUNDANT_FC_SLAVE |
| timer = SetDelay(2500); |
| while(!CheckDelay(timer)); |
| printf("\r\nStart\r\n"); |
| #endif |
| while(1) |
| while (1) |
| { |
| EEAR = EE_DUMMY; // Set the EEPROM Address pointer to an unused space |
| if(ReceiverUpdateModeActive) while (1) PORTC &= ~(1<<7); // Beeper off |
| if(UpdateMotor && AdReady) // ReglerIntervall |
| { |
| cli(); |
| UpdateMotor--; |
| sei(); |
| if(WinkelOut.CalcState) CalMk3Mag(); |
| else MotorRegler(); |
| SendMotorData(); |
| if (UpdateMotor) // ReglerIntervall |
| { |
| UpdateMotor=0; |
| MotorRegler(); |
| SendMotorData(); |
| ROT_OFF; |
| if(SenderOkay > ReceiverOkay) ReceiverOkay = SenderOkay; |
| if(ReceiverOkay) ReceiverOkay--; |
| else |
| { |
| ChannelNick = 0; |
| ChannelRoll = 0; |
| ChannelYaw = 0; |
| ChannelGas = 0; |
| VersionInfo.HardwareError[1] |= FC_ERROR1_PPM; |
| } |
| if(SenderOkay) { SenderOkay--; /*VersionInfo.HardwareError[1] &= ~FC_ERROR1_PPM;*/ } |
| else |
| { |
| TIMSK1 |= _BV(ICIE1); // enable PPM-Input |
| PPM_in[0] = 0; // set RSSI to zero on data timeout |
| // Now clear the channel values - they would be wrong |
| PPM_diff[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_diff[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 160 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 220) SenderOkay = 160; |
| //if(HoehenReglerAktiv && NaviDataOkay && SenderOkay < 101 && SenderOkay > 10 && FromNaviCtrl_Value.SerialDataOkay > 1) SenderOkay = 101; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(!--I2CTimeout || MissingMotor) |
| { |
| if(!I2CTimeout) |
| { |
| I2C_Reset(); |
| I2CTimeout = 5; |
| DebugOut.Analog[28]++; // I2C-Error |
| VersionInfo.HardwareError[1] |= FC_ERROR1_I2C; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| if((BeepMuster == 0xffff) && MotorenEin) |
| { |
| beeptime = 25000; |
| BeepMuster = 0x0080; |
| } |
| if(PcZugriff) PcZugriff--; |
| if(SenderOkay) SenderOkay--; |
| if (UBat < EE_Parameter.UnterspannungsWarnung) |
| { |
| beeptime = 2000; |
| } |
| else |
| if(!Timeout) |
| { |
| i2c_init(); |
| } |
| else |
| { |
| ROT_OFF; |
| ROT_OFF; |
| } |
| LIBFC_Polling(); |
| } |
| if(!UpdateMotor) |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(NewSBusData) ProcessSBus(); |
| else |
| if(NewMlinkData) ProcessMlinkData(); |
| else |
| #endif |
| { |
| if(BytegapSPI == 0) SPI_TransmitByte(); |
| if(CalculateServoSignals) CalculateServo(0); |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| if(!(PINB & 0x04)) VersionInfo.HardwareError[1] |= FC_ERROR1_RC_VOLTAGE; |
| if(CheckDelay(timer)) |
| { |
| static unsigned char second; |
| timer += 20; // 20 ms interval |
| //DebugOut.Analog[] = LuftdruckTemperaturOffset; |
| CalcNickServoValue(); |
| if(!CalibrationDone) FC_StatusFlags3 |= FC_STATUS3_NOT_CALIBRATED; else FC_StatusFlags3 &= ~FC_STATUS3_NOT_CALIBRATED; |
| // ++++++++++++++++++++++++++++ |
| // + New direction setpoint from NC |
| if((NC_CompassSetpoint != -1) && !NeueKompassRichtungMerken) |
| { |
| int diff; |
| if((KompassSollWert != NC_CompassSetpoint) && (CareFree || NCForcesNewDirection)) |
| { |
| diff = ((540 + (KompassSollWert - NC_CompassSetpoint)) % 360) - 180; |
| if(diff > 2) diff = 2; // max. 2° in 20ms = 100°/sec |
| else |
| if(diff < -2) diff = -2; |
| KompassSollWert -= diff; |
| } |
| else |
| { |
| NC_CompassSetpoint = -1; |
| NCForcesNewDirection = 0; // allows Yawing without CareFree (Yawing at Coming Home) |
| } |
| } |
| // ++++++++++++++++++++++++++++ |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(EE_Parameter.Receiver == RECEIVER_HOTT) HoTT_Menu(); |
| else |
| if(EE_Parameter.Receiver == RECEIVER_JETI) BuildJeti_Vario(); |
| // ++++++++++++++++++++++++++++ |
| // + check the ACC-Z range |
| if(ACC_AltitudeControl && ((Aktuell_az < 300) || (DebugOut.Analog[7] < (128 * 4) && Aktuell_az > 850))) // DebugOut.Analog[7] = GasMischanteil |
| { |
| if(++AccZ_ErrorCnt > 50) |
| { |
| if(MotorenEin) VersionInfo.HardwareError[0] |= FC_ERROR0_ACC_TOP; |
| else CalibrationDone = 0; |
| } |
| } |
| else AccZ_ErrorCnt = 0; |
| // ++++++++++++++++++++++++++++ |
| #endif |
| if(MissingMotor || Capacity.MinOfMaxPWM < 30) |
| { |
| if(MissingMotor) VersionInfo.HardwareError[1] |= FC_ERROR1_BL_MISSING; |
| DebugOut.Status[1] |= 0x02; // BL-Error-Status |
| } |
| else |
| { |
| if(!beeptime) |
| { |
| if(I2CTimeout > 6) DebugOut.Status[1] &= ~0x02; // BL-Error-Status |
| } |
| } |
| if(DisableRcOffBeeping) if(ReceiverOkay > 150) { DisableRcOffBeeping = 0; beeptime = 5000;}; |
| if(PcZugriff) PcZugriff--; |
| else |
| { |
| if(!ReceiverOkay) |
| { |
| if(BeepMuster == 0xffff && DisableRcOffBeeping != 2) |
| { |
| beeptime = 15000; |
| BeepMuster = 0x0c00; |
| if(DisableRcOffBeeping) DisableRcOffBeeping = 2; |
| } |
| } |
| } |
| if(NaviDataOkay > 200) |
| { |
| NaviDataOkay--; |
| VersionInfo.HardwareError[1] &= ~FC_ERROR1_SPI_RX; |
| VersionInfo.Flags |= FC_VERSION_FLAG_NC_PRESENT; |
| } |
| else |
| { |
| if(NC_Version.Compatible) |
| { |
| VersionInfo.HardwareError[1] |= FC_ERROR1_SPI_RX; |
| NC_ErrorCode = 9; // "ERR: no NC communication" |
| if(BeepMuster == 0xffff && MotorenEin) |
| { |
| beeptime = 15000; |
| BeepMuster = 0xA800; |
| } |
| } |
| GPS_Nick = 0; |
| GPS_Roll = 0; |
| GPS_Aid_StickMultiplikator = 0; |
| GPSInfo.Flags = 0; |
| FromNaviCtrl_Value.Kalman_K = -1; |
| FromNaviCtrl.AccErrorN = 0; |
| FromNaviCtrl.AccErrorR = 0; |
| FromNaviCtrl.CompassValue = -1; |
| FromNC_AltitudeSpeed = 0; |
| FromNC_AltitudeSetpoint = 0; |
| VersionInfo.Flags &= ~FC_VERSION_FLAG_NC_PRESENT; |
| NC_To_FC_Flags = 0; |
| NaviDataOkay = 0; |
| } |
| if(UBat <= BattLowVoltageWarning) |
| { |
| FC_StatusFlags |= FC_STATUS_LOWBAT; |
| if(BeepMuster == 0xffff && UBat > 10) // Do not beep, if the voltage reading is below 1V (Supplied via MKUSB) |
| { |
| beeptime = 6000; |
| BeepMuster = 0x0300; |
| } |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| // + Load/Store one single point |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| if(EE_Parameter.SingleWpControlChannel) LoadStoreSingleWP(); |
| // +++++++++++++++++++++++++++++++++++++++++++ |
| #endif |
| #ifdef NO_RECEIVER |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
| PPM_in[EE_Parameter.HoeheChannel] = (unsigned char) 200; |
| PPM_in[EE_Parameter.NaviGpsModeChannel] = (unsigned char) 200; |
| PPM_in[EE_Parameter.CareFreeChannel] = (unsigned char) 200; |
| SenderOkay = 180; |
| MotorenEin = 0; |
| #endif |
| if(BaroExpandCnt > 0) BaroExpandCnt--; |
| else |
| if(BaroExpandCnt < 0) BaroExpandCnt++; |
| // +++++++++++++++++++++++++++++++++ |
| // Sekundentakt |
| if(++second == 49) |
| { |
| static long altitudeOld = 0; |
| static char threeseconds = 3; |
| second = 0; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(TimerSpeakReady) |
| { |
| if(!SpeakHoTT && !VersionInfo.HardwareError[0] && CalibrationDone && !NC_ErrorCode && !Partner_ErrorCode) |
| { |
| if((abs(MesswertGier) > 32 || abs(MesswertNick) > 20) || abs(MesswertRoll) > 20) TimerSpeakReady = 5; |
| if(--TimerSpeakReady == 0) if(!MotorenEin) SpeakHoTT = SPEAK_MK_READY; |
| } |
| } |
| if(EE_Parameter.Receiver != RECEIVER_HOTT) BuildHottStatusText(); |
| #ifdef REDUNDANT_FC_MASTER |
| if(!SpeakHoTT) |
| { |
| static unsigned char speak_R_on = 3, speak_R_off = 0; |
| if(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE) |
| { |
| if(speak_R_on) if(--speak_R_on == 0) |
| { |
| SpeakHoTT = SPEAK_REDUNDANC_ON; |
| speak_R_on = 0; |
| } |
| speak_R_off = 5; |
| } |
| else |
| { |
| if(FC_StatusFlags & FC_STATUS_FLY) |
| { |
| if(--speak_R_off == 0) |
| { |
| SpeakHoTT = SPEAK_REDUNDANC_OFF; |
| speak_R_off = 60; |
| speak_R_on = 3; |
| } |
| } |
| else |
| { |
| speak_R_off = 3; |
| speak_R_on = 3; |
| } |
| } |
| } |
| #endif |
| if(ShowSettingNameTime) ShowSettingNameTime--; |
| if(Show_Load_Time) Show_Load_Time--; |
| if(Show_Store_Time) Show_Store_Time--; |
| if(ShowCmpsCalibrateTime) ShowCmpsCalibrateTime--; |
| if(Delete_Stoppflag_Timer) Delete_Stoppflag_Timer--; else FC_StatusFlags3 &= ~FC_STATUS3_MOTORS_STOPPED_BY_RC; |
| #endif |
| if(NC_To_FC_Flags & (NC_TO_FC_EMERGENCY_LANDING | NC_TO_FC_FLYING_RANGE | NC_TO_FC_OUTSIDE_FLYZONE)) |
| { |
| if(!beeptime) |
| { |
| beeptime = 10000; |
| if(NC_To_FC_Flags & NC_TO_FC_EMERGENCY_LANDING) BeepMuster = 0x1500; |
| else BeepMuster = 0x2800; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + for External control |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(ExternalControlTimeout) |
| { |
| ExternalControlTimeout--; |
| if(ExternalControlTimeout == EXTRN_CTRL_TIMEOUT - 3) // take sticks into middle Position after 3 seconds |
| { |
| ExternalControl.Nick = 0; |
| ExternalControl.Roll = 0; |
| ExternalControl.Gier = 0; |
| ExternalControl.Gas = 0; |
| // switch on GPS and Altitude Control |
| if(!(ExternalControl.Switches & (EC2_PH | EC2_CH))) ExternalControl.Switches |= EC2_PH; |
| ExternalControl.Switches |= EC2_ALTITUDE; |
| beeptime = 2000; |
| } |
| else |
| if(ExternalControlTimeout == 1) |
| { |
| ExternalControl.Config = 0; |
| beeptime = 2000; |
| } |
| } |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + for auto switch - off |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(--threeseconds == 0) |
| { |
| int AltitudeDeviationPer3Seconds = 0; |
| threeseconds = 3; |
| AltitudeDeviationPer3Seconds = HoehenWert - altitudeOld; |
| altitudeOld = HoehenWert; |
| if(abs(AltitudeDeviationPer3Seconds) > 90) TouchDownTimer = 0; |
| if(!MotorenEin) TouchDownTimer = 0; |
| } |
| if(ACC_AltitudeControl && HoehenReglerAktiv && (SollHoehe < (HoehenWert-1100)) && !(VersionInfo.HardwareError[0] & FC_ERROR0_PRESSURE)) // 11m unter Sollwert |
| { |
| if(TouchDownTimer < 255) TouchDownTimer++; |
| } |
| else TouchDownTimer = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if( (NC_To_FC_Flags & NC_TO_FC_SWITCHOFF_IF_LANDED) || // for auto landing waypoints points |
| (NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) || // for RC failsafe |
| (LowVoltageLandingActive) || // undervoltage |
| (FC_StatusFlags2 & FC_STATUS2_AUTO_LANDING) // Auto landing by switch |
| ) |
| { |
| if(TouchDownTimer == 6) SpeakHoTT = SPEAK_SINKING; |
| else |
| if(TouchDownTimer == 9) |
| { |
| SpeakHoTT = SPEAK_LANDING; |
| } |
| else |
| if(TouchDownTimer == 16) |
| { |
| FC_StatusFlags3 |= FC_STATUS3_MOTORS_STOPPED_BY_RC; // that informs the slave to disarm the Motors |
| Delete_Stoppflag_Timer = 2; // 1-2 seconds |
| MotorenEin = 0; |
| modell_fliegt = 0; |
| FC_StatusFlags &= ~(FC_STATUS_EMERGENCY_LANDING | FC_STATUS_FLY); |
| SpeakHoTT = SPEAK_MK_OFF; |
| } |
| } |
| else TouchDownTimer = 0; |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| if(SerialChannelDataOkay) if(--SerialChannelDataOkay == 0) InitSerialPoti(); |
| if(NC_To_FC_Flags & NC_TO_FC_FAILSAFE_LANDING) ServoFailsafeActive = SERVO_FS_TIME; |
| else |
| if(ServoFailsafeActive) ServoFailsafeActive--; |
| if(FC_StatusFlags & FC_STATUS_FLY) FlugSekunden++; |
| else timer2 = 1450; // 0,5 Minuten aufrunden |
| if(modell_fliegt < 1024 && !BaroCalState) |
| { |
| if(StartLuftdruck < LuftdruckKompensiert) StartLuftdruck += 5; |
| else |
| if(StartLuftdruck > LuftdruckKompensiert) StartLuftdruck -= 5; |
| FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
| } |
| else |
| { |
| #ifdef REDUNDANT_FC_MASTER |
| if(!(FC_StatusFlags3 & FC_STATUS3_REDUNDANCE_AKTIVE)) FC_StatusFlags3 |= FC_STATUS3_REDUNDANCE_ERROR; |
| else FC_StatusFlags3 &= ~FC_STATUS3_REDUNDANCE_ERROR; |
| #endif |
| } |
| if(UBat > BattLowVoltageWarning + 1) FC_StatusFlags &= ~FC_STATUS_LOWBAT; |
| TIMSK2 |= (1<<OCIE2A); // enable Servo-Interrupt now |
| } |
| // +++++++++++++++++++++++++++++++++ |
| if(++timer2 == 2930) // eine Minute |
| { |
| timer2 = 0; |
| FlugMinuten++; |
| FlugMinutenGesamt++; |
| SetParamByte(PID_FLIGHT_MINUTES,FlugMinuten / 256); |
| SetParamByte(PID_FLIGHT_MINUTES+1,FlugMinuten % 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL,FlugMinutenGesamt / 256); |
| SetParamByte(PID_FLIGHT_MINUTES_TOTAL+1,FlugMinutenGesamt % 256); |
| timer = SetDelay(20); // falls "timer += 20;" mal nicht geht |
| } |
| } |
| LED_Update(); |
| Capacity_Update(); |
| } |
| } //else DebugOut.Analog[18]++; |
| if(update_spi) update_spi--; |
| } // 500Hz |
| if(update_spi == 0) // 41Hz |
| { |
| if(!MotorenEin && NC_RequestsConfig) { SendSettingToNC(); update_spi = 12;} |
| else |
| if(SPI_StartTransmitPacket()) update_spi = 12; |
| else |
| if(BytegapSPI == 0) SPI_TransmitByte(); |
| } |
| else if(BytegapSPI == 0) SPI_TransmitByte(); |
| if(SIO_DEBUG) |
| { |
| DatenUebertragung(); |
| BearbeiteRxDaten(); |
| } |
| else BearbeiteRxDaten(); |
| if(CheckDelay(timer2)) |
| { |
| if(MotorenEin) PORTC ^= 0x10; else PORTC &= ~0x10; |
| timer = SetDelay(500); |
| } |
| } |
| return (1); |
| } |
| //DebugOut.Analog[] |
| /trunk/main.h |
|---|
| 1,72 → 1,56 |
| #ifndef _MAIN_H |
| #define _MAIN_H |
| #define _MAIN_H |
| //#define REDUNDANT_FC_SLAVE |
| //#define REDUNDANT_FC_MASTER |
| //#define NO_RECEIVER // to operate without a receiver -> only for simulation |
| //Hier die Quarz Frequenz einstellen |
| #if defined (__AVR_ATmega32__) |
| #define SYSCLK 20000000L //Quarz Frequenz in Hz |
| #endif |
| //#define DEBUG // use to activate debug output to MK-Tool: use Debug(text); |
| //#define ACT_S3D_SUMMENSIGNAL |
| //#define UserParameter8_FAILSAFE |
| //#define RECEIVER_SPEKTRUM_DX7EXP |
| //#define RECEIVER_SPEKTRUM_DX8EXP |
| #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)||(PlatinenVersion >= 20)) PORTB &=~0x01; else PORTB |= 0x01;} |
| //#define ROT_ON {if((PlatinenVersion == 10)||(PlatinenVersion >= 20)) PORTB |= 0x01; else PORTB &=~0x01;} |
| #define ROT_OFF {PORTB &=~0x01;} |
| #define ROT_ON {PORTB |= 0x01;} |
| #define ROT_OFF PORTB &=~0x01 |
| #define ROT_ON PORTB |= 0x01 |
| #define ROT_FLASH PORTB ^= 0x01 |
| //#define GRN_OFF {if((PlatinenVersion < 12) || PlatinenVersion == 25) PORTB &=~0x02; else PORTB |= 0x02;} |
| //#define GRN_ON {if((PlatinenVersion < 12) || PlatinenVersion == 25) PORTB |= 0x02; else PORTB &=~0x02;} |
| #define GRN_OFF {if(PlatinenVersion >= 25) PORTB &=~0x02; else PORTB |= 0x02;} |
| #define GRN_ON {if(PlatinenVersion >= 25) PORTB |= 0x02; else PORTB &=~0x02;} |
| #define GRN_FLASH PORTB ^= 0x02 |
| #define GRN_OFF PORTB &=~0x02 |
| #define GRN_ON PORTB |= 0x02 |
| #define GRN_FLASH PORTD ^= 0x02 |
| #define SYSCLK F_CPU |
| //#ifndef F_CPU |
| //#error ################## F_CPU nicht definiert oder ungültig ############# |
| //#endif |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #define J3High PORTD |= 0x20 |
| #define J3Low PORTD &= ~0x20 |
| #define J4High PORTD |= 0x10 |
| #define J4Low PORTD &= ~0x10 |
| #define J5High PORTD |= 0x08 |
| #define J5Low PORTD &= ~0x08 |
| #define UART_MUX_TO_BL PORTD |= 0x10 |
| #define UART_MUX_TO_UPDATE PORTD &= ~0x10 |
| //#define ANZ_MITTELWERT 4 |
| extern unsigned char BattLowVoltageWarning; |
| extern unsigned char BattAutoLandingVoltage, BattComingHomeVoltage; |
| extern unsigned char CosinusNickWinkel, CosinusRollWinkel; |
| extern unsigned char PlatinenVersion; |
| extern unsigned char FoundMotors,DisableRcOffBeeping; |
| extern unsigned char JetiBeep; |
| void LipoDetection(unsigned char print); |
| extern unsigned int FlugMinuten,FlugMinutenGesamt,FlugSekunden; |
| extern void PrintLine(void); // "=================================" |
| extern unsigned char ActiveParamSet; |
| extern unsigned int BL3_Current(unsigned char who); // in 0,1A |
| extern unsigned char LipoCells; |
| extern unsigned char Delete_Stoppflag_Timer; |
| extern void InitSerialPoti(void); |
| extern unsigned char TouchDownTimer; |
| unsigned char OEM_String[17]; |
| extern unsigned char TimerSpeakReady; |
| #define EEPROM_ADR_VALID 1 |
| #define EEPROM_ADR_ACTIVE_SET 2 |
| #define NOTHING 0 |
| #define MASTER 1 |
| #define SLAVE 2 |
| extern unsigned char IamMaster; |
| #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 |
| #include <avr/pgmspace.h> |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| //#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; |
| #endif |
| extern void ReadParameterSet (unsigned char number, unsigned char *buffer, unsigned char length); |
| extern 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> |
| 79,6 → 63,7 |
| #include "old_macros.h" |
| #include "_settings.h" |
| #include "printf_P.h" |
| #include "timer0.h" |
| #include "uart.h" |
| 88,18 → 73,16 |
| #include "rc.h" |
| #include "fc.h" |
| #include "gps.h" |
| #include "spi.h" |
| #include "led.h" |
| #include "spektrum.h" |
| #include "capacity.h" |
| #include "eeprom.h" |
| #include "libfc.h" |
| #include "hottmenu.h" |
| #include "debug.h" |
| #include "sbus.h" |
| #include "jeti_ex.h" |
| #include "M-Link.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 |
| /trunk/makefile |
|---|
| 1,46 → 1,26 |
| #-------------------------------------------------------------------- |
| # MCU name |
| MCU = atmega1284p |
| #MCU = atmega644p |
| MCU = atmega644 |
| F_CPU = 20000000 |
| #------------------------------------------------------------------- |
| VERSION_MAJOR = 2 |
| VERSION_MINOR = 20 |
| VERSION_PATCH = 2 |
| VERSION_SERIAL_MAJOR = 11 # Serial Protocol to KopterTool -> do not change! |
| VERSION_SERIAL_MINOR = 0 # Serial Protocol |
| NC_SPI_COMPATIBLE = 92 # Navi-Kompatibilität |
| LIB_FC_COMPATIBLE = 8 # Library |
| HAUPT_VERSION = 0 |
| NEBEN_VERSION = 60 |
| VERSION_KOMPATIBEL = 4 # PC-Kompatibilität |
| #------------------------------------------------------------------- |
| # ATMEGA644: 63487 is maximum |
| #------------------------------------------------------------------- |
| # 0 a |
| # 1 b |
| # 2 c |
| # 3 d |
| # 4 e |
| # 5 f |
| # 6 g |
| # 7 h |
| # 8 i |
| # 9 j |
| # 10 k |
| # 11 L |
| #------------------------------------------------------------------- |
| # get SVN revision |
| REV := $(shell sh -c "cat .svn/entries | sed -n '4p'") |
| ifeq ($(MCU), atmega32) |
| # FUSE_SETTINGS= -u -U lfuse:w:0xff:m -U hfuse:w:0xcf:m |
| ifeq ($(MCU), atmega1284p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| HEX_NAME = MEGA1284P |
| LIBFC_EXT = 1284 |
| HEX_NAME = MEGA32 |
| endif |
| ifeq ($(MCU), atmega644p) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| ifeq ($(MCU), atmega644) |
| FUSE_SETTINGS = -u -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| #FUSE_SETTINGS = -U lfuse:w:0xff:m -U hfuse:w:0xdf:m |
| # -u bei neuen Controllern wieder einspielen |
| HEX_NAME = MEGA644 |
| LIBFC_EXT = 644 |
| endif |
| ifeq ($(F_CPU), 16000000) |
| 57,98 → 37,17 |
| # Target file name (without extension). |
| ifeq ($(VERSION_PATCH), 0) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 1) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 2) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 3) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 4) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 5) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 6) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 7) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 8) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 9) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 10) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 11) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)L_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 12) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 13) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 14) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 15) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 16) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 17) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 18) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)s_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 19) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)t_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 20) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)u_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 21) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)v_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 22) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)w_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 23) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)x_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 24) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)y_SVN$(REV) |
| endif |
| ifeq ($(VERSION_PATCH), 25) |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)z_SVN$(REV) |
| endif |
| TARGET = Flight-Ctrl_$(HEX_NAME)_V$(HAUPT_VERSION)_$(NEBEN_VERSION) |
| # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
| # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
| OPT = s |
| #OPT = 2 |
| ########################################################################################################## |
| # List C source files here. (C dependencies are automatically generated.) |
| SRC = main.c uart.c timer0.c analog.c menu.c eeprom.c |
| SRC += twimaster.c rc.c fc.c GPS.c spi.c led.c Spektrum.c |
| SRC += mymath.c jetimenu.c capacity.c debug.c |
| SRC += hottmenu.c sbus.c user_receiver.c M-Link.c |
| SRC += jeti_ex.c |
| SRC = main.c uart.c printf_P.c timer0.c analog.c menu.c |
| SRC += twimaster.c rc.c fc.c GPS.c |
| ########################################################################################################## |
| 159,7 → 58,7 |
| # Even though the DOS/Win* filesystem matches both .s and .S the same, |
| # it will preserve the spelling of the filenames, and gcc itself does |
| # care about how the name is spelled on its command-line. |
| ASRC = isqrt.S |
| ASRC = |
| 175,7 → 74,11 |
| # -Wall...: warning level |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create assembler listing |
| CFLAGS = -O$(OPT) -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wall -Wstrict-prototypes -Wa,-adhlns=$(<:%.c=%.lst) $(patsubst %,-I%,$(EXTRAINCDIRS)) |
| 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. |
| 186,14 → 89,9 |
| #CFLAGS += -std=c99 |
| CFLAGS += -std=gnu99 |
| # shrink code size |
| CFLAGS += -mtiny-stack |
| #CFLAGS += -fno-inline-functions |
| CFLAGS += -mcall-prologues |
| CFLAGS += -DVERSION_HAUPTVERSION=$(HAUPT_VERSION) -DVERSION_NEBENVERSION=$(NEBEN_VERSION) -DVERSION_KOMPATIBEL=$(VERSION_KOMPATIBEL) |
| CFLAGS += -DF_CPU=$(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) -DLIB_FC_COMPATIBLE=$(LIB_FC_COMPATIBLE) |
| # Optional assembler flags. |
| # -Wa,...: tell GCC to pass this to the assembler. |
| # -ahlms: create listing |
| 222,7 → 120,6 |
| # -lm = math library |
| LDFLAGS += -lm |
| LDFLAGS += libfc$(LIBFC_EXT).a |
| ##LDFLAGS += -T./linkerfile/avr5.x |
| 236,21 → 133,19 |
| # Type: avrdude -c ? |
| # to get a full listing. |
| # |
| #AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = stk200 |
| AVRDUDE_PROGRAMMER = dt006 |
| #AVRDUDE_PROGRAMMER = ponyser |
| AVRDUDE_PROGRAMMER = avrispv2 |
| #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_PORT = usb # programmer connected to USB |
| #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 -c avrispv2 -P usb -p m32 -U flash:w:blink.hex |
| AVRDUDE_FLAGS = -p $(MCU) -P $(AVRDUDE_PORT) -c $(AVRDUDE_PROGRAMMER) |
| # Uncomment the following if you want avrdude's erase cycle counter. |
| 292,10 → 187,8 |
| COPY = cp |
| HEXSIZE = $(SIZE) --target=$(FORMAT) $(TARGET).hex |
| ELFSIZE = $(SIZE) -x -A $(TARGET).elf |
| LIMITS = $(SIZE) --mcu=$(MCU) -C $(TARGET).elf |
| ELFSIZE = $(SIZE) -A $(TARGET).elf |
| # Define Messages |
| # English |
| MSG_ERRORS_NONE = Errors: none |
| 329,7 → 222,8 |
| # Default target. |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex sizeafter finished end |
| all: begin gccversion sizebefore $(TARGET).elf $(TARGET).hex $(TARGET).eep \ |
| $(TARGET).lss $(TARGET).sym sizeafter finished end |
| # Eye candy. |
| 349,11 → 243,13 |
| # Display size of file. |
| sizebefore: |
| @if [ -f $(TARGET).elf ]; then echo Size before:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_BEFORE); $(ELFSIZE); echo; fi |
| sizeafter: |
| @if [ -f $(TARGET).elf ]; then echo Size after:; $(ELFSIZE); $(HEXSIZE); $(LIMITS); echo; fi |
| @if [ -f $(TARGET).elf ]; then echo; echo $(MSG_SIZE_AFTER); $(ELFSIZE); echo; fi |
| # Display compiler version information. |
| gccversion : |
| @$(CC) --version |
| 453,15 → 349,15 |
| clean_list : |
| @echo |
| @echo $(MSG_CLEANING) |
| $(REMOVE) Flight-Ctrl_*.hex |
| $(REMOVE) Flight-Ctrl_*.eep |
| # $(REMOVE) $(TARGET).hex |
| $(REMOVE) $(TARGET).eep |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).cof |
| $(REMOVE) Flight-Ctrl_*.elf |
| $(REMOVE) Flight-Ctrl_*.map |
| $(REMOVE) $(TARGET).elf |
| $(REMOVE) $(TARGET).map |
| $(REMOVE) $(TARGET).obj |
| $(REMOVE) $(TARGET).a90 |
| $(REMOVE) Flight-Ctrl_*.sym |
| $(REMOVE) $(TARGET).sym |
| $(REMOVE) $(TARGET).lnk |
| $(REMOVE) $(TARGET).lss |
| $(REMOVE) $(OBJ) |
| 468,7 → 364,6 |
| $(REMOVE) $(LST) |
| $(REMOVE) $(SRC:.c=.s) |
| $(REMOVE) $(SRC:.c=.d) |
| $(REMOVE) $(SRC:.c=.o) |
| # Automatically generate C source code dependencies. |
| 486,7 → 381,7 |
| # Remove the '-' if you want to see the dependency files generated. |
| -include $(SRC:%.c=%.d) |
| -include $(SRC:.c=.d) |
| /trunk/menu.c |
|---|
| 1,65 → 1,18 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #include "eeprom.h" |
| char DisplayBuff[80]; |
| 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; |
| unsigned char MaxMenue = 19; |
| unsigned char MenuePunkt = 0; |
| unsigned char RemoteKeys = 0; |
| #define KEY1 0x01 |
| #define KEY2 0x02 |
| #define KEY3 0x04 |
| 68,293 → 21,98 |
| void LcdClear(void) |
| { |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| unsigned char i; |
| for(i=0;i<80;i++) DisplayBuff[i] = ' '; |
| } |
| void Menu_Putchar(char c) |
| { |
| if(DispPtr < 80) DisplayBuff[DispPtr++] = c; |
| } |
| void Menu(void) |
| { |
| unsigned char i; |
| static char DisableMenu = 0, AccMenu = 0, changed = 0; |
| if(!DisableMenu) |
| { |
| if(RemoteKeys & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue;} |
| if(RemoteKeys & KEY2) { if(MenuePunkt == MaxMenue) MenuePunkt = 0; else MenuePunkt++;} |
| if((RemoteKeys & KEY1) && (RemoteKeys & KEY2)) MenuePunkt = 0; |
| } |
| LcdClear(); |
| if(MenuePunkt < 10) {LCD_printfxy(17,0,"[%i]",MenuePunkt);} |
| else {LCD_printfxy(16,0,"[%i]",MenuePunkt);}; |
| static unsigned char MaxMenue = 10,MenuePunkt=0; |
| if(RemoteTasten & KEY1) { if(MenuePunkt) MenuePunkt--; else MenuePunkt = MaxMenue; LcdClear(); } |
| if(RemoteTasten & KEY2) { MenuePunkt++; LcdClear(); } |
| if((RemoteTasten & KEY1) && (RemoteTasten & KEY2)) MenuePunkt = 0; |
| LCD_printfxy(17,0,"[%i]",MenuePunkt); |
| switch(MenuePunkt) |
| { |
| case 0: |
| if(OEM_String[0] == 255) {LCD_printfxy(0,0,"+ MikroKopter +");} else {LCD_printfxy(0,0,"+ %s +",OEM_String)}; |
| LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%02d%c ",PlatinenVersion/10,PlatinenVersion%10, VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH +'a'); |
| LCD_printfxy(0,2,"Set:%d %s ", ActiveParamSet,Mixer.Name); |
| if(FC_StatusFlags3 & FC_STATUS3_BOAT) LCD_printfxy(16,2,"BOAT"); |
| if(VersionInfo.HardwareError[1] & FC_ERROR1_MIXER) LCD_printfxy(0,3,"Mixer Error!") |
| else |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(NC_ErrorCode) |
| { |
| LCD_printfxy(0,3,"ERR%2d:",NC_ErrorCode); |
| _printf_P(&Menu_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0); |
| } |
| else |
| #endif |
| if(VersionInfo.HardwareError[0]) LCD_printfxy(0,3,"Hardware Error 1:%d !!",VersionInfo.HardwareError[0]) |
| else |
| if(MissingMotor) LCD_printfxy(0,3,"Missing BL-Ctrl:%d !!",MissingMotor) |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| #else |
| else |
| if(NC_ErrorCode) |
| { |
| LCD_printfxy(0,3,"! NC-ERR: %2d ! ",NC_ErrorCode); |
| } |
| #endif |
| // if(VersionInfo.HardwareError[1]) LCD_printfxy(0,3,"Error 2:%d !!",VersionInfo.HardwareError[1]) |
| else |
| if(I2CTimeout < 6) LCD_printfxy(0,3,"I2C ERROR!!!") |
| else |
| if(Capacity.MinOfMaxPWM < 30) LCD_printfxy(0,3,"BL-Selftest Err:%2d",Capacity.MinOfMaxPWM) |
| case 0: |
| LCD_printfxy(0,0,"++ MikroKopter ++"); |
| 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--; |
| // if(RemoteTasten & KEY4) TestInt++; |
| break; |
| case 1: |
| if(VersionInfo.HardwareError[0] & FC_ERROR0_PRESSURE) LCD_printfxy(0,0,"ERROR: %5i",(int)(HoehenWert/5)) |
| else LCD_printfxy(0,0,"Height: %5i",(int)(HoehenWert/5)); |
| LCD_printfxy(0,1,"Setpoint:%5i",(int)(SollHoehe/5)); |
| LCD_printfxy(0,2,"Pressure:%5i",MessLuftdruck); |
| LCD_printfxy(0,3,"Offset: %5i",OCR0A); |
| // if(RemoteKeys & KEY4) StartLuftdruck = LuftdruckKompensiert; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(ACC_AltitudeControl) |
| { |
| LCD_printfxy(17,2,"(A)"); |
| LCD_printfxy(16,3,"%i",CalAthmospheare); |
| } |
| #endif |
| 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,"act. bearing"); |
| 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,"Compass: %5i",OrientationCompassCorrected); |
| LCD_printfxy(0,3,"Kompass: %5i",KompassValue); |
| break; |
| case 3: |
| for(i=1;i<9;i+=2) LCD_printfxy(0,i/2,"K%i:%4i K%i:%4i ",i,PPM_in[i],i+1,PPM_in[i+1]); |
| 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 Kanäle ",PPM_in[7]); |
| break; |
| case 4: |
| LCD_printfxy(0,0,"Ni:%4i Ro:%4i ",ChannelNick,ChannelRoll); |
| LCD_printfxy(0,1,"Gs:%4i Gi:%4i ",ChannelGas+127,ChannelYaw); |
| LCD_printfxy(0,2,"P1:%4i P2:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI1]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI2]]+127); |
| LCD_printfxy(0,3,"P3:%4i P4:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_POTI4]]+127); |
| 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 Kanäle ",PPM_in[EE_Parameter.Kanalbelegung[K_POTI3]]); |
| break; |
| case 5: |
| case 5: |
| LCD_printfxy(0,0,"Gyro - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%4i)",AdWertNick - AdNeutralNick/8, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%4i)",AdWertRoll - AdNeutralRoll/8, AdNeutralRoll); |
| LCD_printfxy(0,3,"Yaw %4i (%4i)",AdNeutralGier - AdWertGier, AdNeutralGier); |
| AccMenu = 0; |
| LCD_printfxy(0,1,"Nick %4i (%3i)",AccumulateNick / MessanzahlNick, AdNeutralNick); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",AccumulateRoll / MessanzahlRoll, AdNeutralRoll); |
| LCD_printfxy(0,3,"Gier %4i (%3i)",AccumulateGier / MessanzahlGier, AdNeutralGier); |
| break; |
| case 6: |
| switch(AccMenu) |
| { |
| case 0: |
| 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,"Z %4i (%3i)(cal)",AdWertAccHoch,(int)NeutralAccZ); |
| if(RemoteKeys & KEY4) AccMenu++; |
| changed = 0; |
| break; |
| case 1: |
| LCD_printfxy(0,0,"Calibration:"); |
| LCD_printfxy(0,1,"ACC: N:%3i R:%3i ",NeutralAccY,NeutralAccX); |
| if(ChannelNick || ChannelRoll) LCD_printfxy(0,2,"Stick: (%i/%i) !! ",ChannelNick,ChannelRoll); |
| if((FC_StatusFlags & FC_STATUS_MOTOR_RUN) && ((NC_GPS_ModeCharacter == ' ') || (NC_GPS_ModeCharacter == '/') || (NC_GPS_ModeCharacter == '-'))) |
| { |
| DisableMenu = 1; |
| if(!EE_Parameter.Driftkomp) EE_Parameter.Driftkomp = 6; // enables the Gyro-Drift compensation to make sure that a litlte calibration error won't effect the attitude |
| if(RemoteKeys & KEY1) { NeutralAccY--; changed = 1;} |
| if(RemoteKeys & KEY2) { NeutralAccY++; changed = 1;} |
| if(RemoteKeys & KEY3) { NeutralAccX--; changed = 1;} |
| if(RemoteKeys & KEY4) { NeutralAccX++; changed = 1;} |
| LCD_printfxy(13,0,"on "); |
| if(changed) LCD_printfxy(0,3,"land to save ") |
| else LCD_printfxy(0,3,"use keys to trim ACC") |
| } |
| else |
| { |
| LCD_printfxy(13,0,"off"); |
| DisableMenu = 0; |
| if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN) && changed) |
| { |
| LCD_printfxy(0,3,"Save? (yes)(no)"); |
| if(RemoteKeys & KEY3) { StoreNeutralToEeprom(); AccMenu = 0;} |
| if(RemoteKeys & KEY4) { changed = 0;} |
| } |
| else LCD_printfxy(0,3,"Fly with GPS off"); |
| } |
| break; |
| default: AccMenu = 0; break; |
| } |
| case 6: |
| LCD_printfxy(0,0,"ACC - Sensor"); |
| LCD_printfxy(0,1,"Nick %4i (%3i)",accumulate_AccNick / messanzahl_AccNick,NeutralAccX); |
| LCD_printfxy(0,2,"Roll %4i (%3i)",accumulate_AccRoll / messanzahl_AccRoll,NeutralAccY); |
| LCD_printfxy(0,3,"Hoch %4i (%3i)",Aktuell_az/*accumulate_AccHoch / messanzahl_AccHoch*/,(int)NeutralAccZ); |
| break; |
| case 7: |
| LCD_printfxy(0,0,"Voltage: %3i.%1iV",UBat/10, UBat%10); |
| LCD_printfxy(0,1,"Current: %3i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
| LCD_printfxy(0,2,"Power: %4iW",Capacity.ActualPower); |
| LCD_printfxy(0,3,"Discharge: %5imAh", Capacity.UsedCapacity); |
| AccMenu = 0; |
| break; |
| case 8: |
| LCD_printfxy(0,0,"Receiver"); |
| LCD_printfxy(0,2,"RC-Quality: %4i", SenderOkay); |
| LCD_printfxy(0,3,"RC-Channels:%4i", Channels-1); |
| case 7: |
| LCD_printfxy(0,1,"Spannung: %5i",UBat); |
| LCD_printfxy(0,2,"Empf.Pegel:%5i",SenderOkay); |
| break; |
| case 9: |
| LCD_printfxy(0,0,"Undervoltages " ); |
| LCD_printfxy(0,1,"Warn: %2d.%dV",BattLowVoltageWarning/10,BattLowVoltageWarning%10); |
| LCD_printfxy(0,2,"Home: %2d.%dV",BattComingHomeVoltage/10,BattComingHomeVoltage%10); |
| LCD_printfxy(0,3,"Land: %2d.%dV",BattAutoLandingVoltage/10,BattAutoLandingVoltage%10); |
| 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 10: |
| for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+1,Poti[i]); |
| 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 11: |
| for(i=0;i<4;i++) LCD_printfxy(0,i,"Poti%i: %3i",i+5,Poti[i+4]); |
| break; |
| case 12: |
| LCD_printfxy(0,0,"Flight-Time " ); |
| LCD_printfxy(0,1,"Total:%5umin",FlugMinutenGesamt); |
| LCD_printfxy(0,2,"Act: %5umin",FlugMinuten); |
| LCD_printfxy(13,3,"(reset)"); |
| if(RemoteKeys & KEY4) |
| { |
| FlugMinuten = 0; |
| SetParamWord(PID_FLIGHT_MINUTES, FlugMinuten); |
| } |
| break; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| case 13: |
| LCD_printfxy(0,0,"Compass"); |
| LCD_printfxy(0,1,"Magnet: %5i",KompassValue); |
| LCD_printfxy(0,2,"Gyro: %5i",ErsatzKompassInGrad); |
| LCD_printfxy(0,3,"True: %5i",OrientationCompassCorrected); |
| break; |
| case 14: |
| case 10: |
| LCD_printfxy(0,0,"Servo " ); |
| LCD_printfxy(0,1,"Setpoint %3i",Parameter_ServoNickControl); |
| LCD_printfxy(0,2,"Position: %3i",ServoNickValue/4); |
| LCD_printfxy(0,2,"Stellung: %3i",ServoValue); |
| LCD_printfxy(0,3,"Range:%3i-%3i",EE_Parameter.ServoNickMin,EE_Parameter.ServoNickMax); |
| break; |
| case 15: |
| if(RequiredMotors < 13) |
| { |
| LCD_printfxy(0,0,"BL-Ctrl Errors " ); |
| for(i=0;i<3;i++) |
| LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK); |
| } |
| else |
| { |
| for(i=0;i<4;i++) |
| LCD_printfxy(0,i,"%3d %3d %3d %3d ",Motor[i*4].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+1].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+2].State & MOTOR_STATE_ERROR_MASK,Motor[i*4+3].State & MOTOR_STATE_ERROR_MASK); |
| LCD_printfxy(16,1,"BL-"); |
| LCD_printfxy(16,2,"Err."); |
| } |
| default: MaxMenue = MenuePunkt - 1; |
| MenuePunkt = 0; |
| break; |
| case 16: |
| if(RequiredMotors < 13) |
| { |
| LCD_printfxy(0,0,"BL- Temperature" ); |
| for(i=0;i<3;i++) |
| { |
| LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
| } |
| } |
| else |
| { |
| for(i=0;i<4;i++) |
| { |
| LCD_printfxy(0,i,"%3d %3d %3d %3d ",Motor[i*4].Temperature,Motor[i*4+1].Temperature,Motor[i*4+2].Temperature,Motor[i*4+3].Temperature); |
| } |
| LCD_printfxy(16,1,"BL-"); |
| LCD_printfxy(16,2,"Temp"); |
| } |
| LCD_printfxy(18,3,"C"); |
| break; |
| case 17: |
| if(RequiredMotors < 13) |
| { |
| LCD_printfxy(0,0,"BL Current" ); |
| LCD_printfxy(11,3,"(in 0.1A)" ); |
| for(i=0;i<3;i++) |
| { |
| LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3)); |
| if(4 + i * 4 >= RequiredMotors) break; |
| } |
| } |
| else |
| { |
| for(i=0;i<4;i++) |
| { |
| LCD_printfxy(0,i,"%3d %3d %3d %3d ",BL3_Current(i*4),BL3_Current(i*4+1),BL3_Current(i*4+2),BL3_Current(i*4+3)); |
| } |
| LCD_printfxy(16,2,"BL-"); |
| LCD_printfxy(16,3,"I"); |
| } |
| break; |
| case 18: |
| LCD_printfxy(0,0,"BL-Ctrl found " ); |
| DispPtr = 20; |
| for(i=0; i<MAX_MOTORS; i++) |
| { |
| if(i == 6 || i == 12) LCD_printf(" "); |
| if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| { |
| LCD_printf(" %2i",i+1); |
| } |
| else LCD_printf(" -"); |
| } |
| break; |
| case 19: |
| if(RequiredMotors < 13) |
| { |
| LCD_printfxy(0,0,"BL Versions" ); |
| for(i=0;i<3;i++) |
| { |
| LCD_printfxy(0,i+1,"%1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor); |
| if(4 + i * 4 >= RequiredMotors) break; |
| } |
| } |
| else |
| { |
| for(i=0;i<4;i++) |
| LCD_printfxy(0,i," %1d.%02d %1d.%02d %1d.%02d %1d.%02d",Motor[i*4].VersionMajor,Motor[i*4].VersionMinor,Motor[i*4+1].VersionMajor,Motor[i*4+1].VersionMinor,Motor[i*4+2].VersionMajor,Motor[i*4+2].VersionMinor,Motor[i*4+3].VersionMajor,Motor[i*4+3].VersionMinor); |
| } |
| break; |
| /* case 20: |
| LCD_printfxy(0,0,"BL MaxPWM " ); |
| for(i=0;i<3;i++) |
| { |
| LCD_printfxy(0,i+1,"%3d %3d %3d %3d ",Motor[i*4].MaxPWM,Motor[i*4+1].MaxPWM,Motor[i*4+2].MaxPWM,Motor[i*4+3].MaxPWM); |
| if(4 + i * 4 >= RequiredMotors) break; |
| } |
| break; |
| */ |
| #endif |
| default: |
| if(MenuePunkt == MaxMenue) MaxMenue--; |
| MenuePunkt = 0; |
| break; |
| } |
| RemoteKeys = 0; |
| } |
| RemoteTasten = 0; |
| } |
| /trunk/menu.h |
|---|
| 1,17 → 1,5 |
| #ifndef _MENU_H |
| #define _MENU_H |
| extern void Menu(void); |
| extern void LcdClear(void); |
| extern void Menu_Putchar(char c); |
| extern char DisplayBuff[80]; |
| extern unsigned char DispPtr; |
| unsigned char RemoteTasten; |
| extern unsigned char MaxMenue; |
| extern unsigned char MenuePunkt; |
| extern unsigned char RemoteKeys; |
| #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);} |
| #endif //_MENU_H |
| /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); |
| } |
| /trunk/printf_P.h |
|---|
| 1,69 → 1,19 |
| // Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist nicht von der Lizenz für den MikroKopter-Teil unterstellt |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| /* |
| Copyright (C) 1993 Free Software Foundation |
| #include <avr/pgmspace.h> |
| 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. |
| #define OUT_V24 0 |
| #define OUT_LCD 1 |
| 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. |
| extern void _printf_P (char, char const *fmt0, ...); |
| extern char PrintZiel; |
| 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. |
| */ |
| #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);} |
| /******************************************************************************/ |
| #ifndef _PRINTF_P_H_ |
| #define _PRINTF_P_H_ |
| #include <avr/pgmspace.h> |
| // function pointer to external callback function |
| typedef void (*pVoidFnctChar) (char ); |
| typedef void (*pVoidFnct_pVoidFnctChar_const_fmt) (pVoidFnctChar, char const *fmt0, ...); |
| extern pVoidFnct_pVoidFnctChar_const_fmt _printf_P; |
| #endif //_PRINTF_P_H_ |
| #endif |
| /trunk/rc.c |
|---|
| 1,84 → 1,35 |
| /*####################################################################################### |
| Decodieren eines RC Summen Signals |
| 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 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "rc.h" |
| #include "main.h" |
| // Achtung: ACT_S3D_SUMMENSIGNAL wird in der Main.h gesetzt |
| #define MAX_RC_IN 16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved |
| volatile int PPM_in[MAX_RC_IN]; |
| volatile int PPM_diff[MAX_RC_IN]; // das differnzierte Stick-Signal |
| volatile char Channels,tmpChannels = 0; |
| volatile int PPM_in[11]; |
| volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| volatile unsigned char NewPpmData = 1; |
| unsigned int PPM_Neutral = 466; |
| signed int ChannelNick,ChannelRoll,ChannelGas,ChannelYaw; |
| //############################################################################ |
| // Clear the values |
| void rc_sum_init(void) |
| //zum decodieren des PPM-Signals wird Timer1 mit seiner Input |
| //Capture Funktion benutzt: |
| void rc_sum_init (void) |
| //############################################################################ |
| { |
| unsigned char i; |
| for(i=0;i<MAX_RC_IN;i++) |
| { |
| if(i < 5) PPM_in[i] = 0; else PPM_in[i] = -127; |
| PPM_diff[i] = 0; |
| } |
| PPM_in[PPM_IN_MAX] = +127; |
| PPM_in[PPM_IN_OFF] = -127; |
| PPM_in[PPM_IN_MID] = 0; |
| 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; |
| 85,99 → 36,50 |
| return; |
| } |
| #ifndef ACT_S3D_SUMMENSIGNAL |
| //############################################################################ |
| // Interrupt function for the PPM-Input |
| ISR(TIMER1_CAPT_vect) |
| //Diese Routine startet und inizialisiert den Timer für RC |
| SIGNAL(SIG_INPUT_CAPTURE1) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index = 255; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? (3.52 ms < signal < 25.6 ms) |
| if((signal > 1100) && (signal < 8000)) |
| { |
| Channels = index; |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| { |
| if(index < SERIAL_POTI_START) |
| { |
| if((signal > 250) && (signal < 687)) |
| { |
| signal -= PPM_Neutral; |
| // Stabiles Signal |
| if(EE_Parameter.FailsafeChannel == 0 || PPM_in[EE_Parameter.FailsafeChannel] < 100) // forces Failsafe if the receiver doesn't have 'signal loss' on Failsafe |
| { |
| if(abs(signal - PPM_in[index]) < 6) { if(SenderOkay < 200) SenderOkay += 10; else SenderOkay = 200;} |
| } |
| tmp = (3 * (PPM_in[index]) + signal) / 4; |
| if(tmp > signal+1) tmp--; else |
| if(tmp < signal-1) tmp++; |
| if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| PPM_in[index] = tmp; |
| if(SenderOkay < 50) |
| { |
| PPM_in[EE_Parameter.Kanalbelegung[K_NICK]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GIER]] = 0; |
| PPM_in[EE_Parameter.Kanalbelegung[K_GAS]] = 0; |
| } |
| } |
| index++; |
| } |
| } |
| } |
| #else |
| //############################################################################ |
| // Interrupt function for the PPM-Input |
| ISR(TIMER1_CAPT_vect) |
| //############################################################################ |
| { |
| static unsigned int AltICR=0; |
| signed int signal = 0,tmp; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| signal /= 2; |
| AltICR = ICR1; |
| signed int signal = 0; |
| static int index; |
| signal = (unsigned int) ICR1 - AltICR; |
| AltICR = ICR1; |
| //Syncronisationspause? |
| if((signal > 1100*2) && (signal < 8000*2)) |
| if ((signal > 1500) && (signal < 8000)) |
| { |
| if(index >= 4) NewPpmData = 0; // Null bedeutet: Neue Daten |
| index = 1; |
| } |
| else |
| index = 1; |
| NewPpmData = 0; // Null bedeutet: Neue Daten |
| // OCR2A = Poti2/2 + 80; |
| } |
| else |
| { |
| if(index < 13) |
| if(index < 10) |
| { |
| if((signal > 250) && (signal < 687*2)) |
| { |
| signal -= 962; |
| 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++; |
| if(SenderOkay >= 195) PPM_diff[index] = ((tmp - PPM_in[index]) / 3) * 3; |
| else PPM_diff[index] = 0; |
| if(tmp > 127) tmp = 127; else if(tmp < -127) tmp = -127; |
| PPM_in[index] = tmp; |
| } |
| index++; |
| signal = (3 * (PPM_in[index]) + signal) / 4; |
| //373 entspricht ca. 1.5ms also Mittelstellung |
| PPM_diff[index] = signal - PPM_in[index]; |
| PPM_in[index] = signal; |
| } |
| 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 */ |
| } |
| } |
| } |
| #endif |
| /trunk/rc.h |
|---|
| 1,44 → 1,29 |
| /*####################################################################################### |
| Dekodieren eines RC Summen Signals |
| Derkodieren eines RC Summen Signals |
| #######################################################################################*/ |
| #ifndef _RC_H |
| #define _RC_H |
| #if defined (__AVR_ATmega644__) |
| #if defined (__AVR_ATmega32__) |
| #define TIMER_TEILER CK64 |
| #define TIMER_RELOAD_VALUE 250 |
| #endif |
| #if defined (__AVR_ATmega644P__) |
| #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 MAX_RC_IN 16+12+3+4 // 16ch + 12ser + 3stages + 4 reserved |
| #define GAS PPM_in[2] |
| extern void rc_sum_init (void); |
| extern volatile int PPM_in[MAX_RC_IN]; |
| extern volatile int PPM_diff[MAX_RC_IN]; // das diffenzierte Stick-Signal |
| extern volatile int PPM_in[11]; |
| extern volatile int PPM_diff[11]; // das diffenzierte Stick-Signal |
| extern volatile unsigned char NewPpmData; |
| extern volatile char Channels,tmpChannels; |
| extern unsigned int PPM_Neutral; |
| extern signed int ChannelNick,ChannelRoll,ChannelGas,ChannelYaw; |
| // 0 -> frei bzw. ACT rssi |
| // 1 - 16 -> 1-16 |
| // 17 - 28 -> 12 Serial channels |
| // 29 -> WP-Event kanal |
| // 30 -> -127 |
| // 31 -> 128 |
| // 32 -> 0 |
| #define SERIAL_POTI_START 17 |
| #define SERIAL_POTI_END 28 |
| #define WP_EVENT_PPM_IN 29 |
| #define PPM_IN_OFF 30 |
| #define PPM_IN_MAX 31 |
| #define PPM_IN_MID 32 |
| #define FromNC_WP_EventChannel PPM_in[WP_EVENT_PPM_IN] // WP_EVENT-Channel-Value |
| #endif //_RC_H |
| /trunk/timer0.c |
|---|
| 1,77 → 1,12 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include "main.h" |
| #define MULTIPLYER 4 |
| volatile unsigned int CountMilliseconds = 0; |
| volatile unsigned int tim_main; |
| volatile static unsigned int tim_main; |
| volatile unsigned char UpdateMotor = 0; |
| volatile unsigned int cntKompass = 0; |
| volatile unsigned int beeptime = 0; |
| volatile unsigned char BytegapSPI = 0, ServoActive = 0, CalculateServoSignals = 1; |
| unsigned char JustMK3MagConnected = 0; |
| uint16_t RemainingPulse = 0; |
| volatile int16_t ServoNickOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
| volatile int16_t ServoRollOffset = (255 / 2) * MULTIPLYER * 16; // initial value near center positon |
| int ServoValue = 0; |
| unsigned int BeepMuster = 0xffff; |
| signed int NickServoValue = 128 * MULTIPLYER * 16; |
| volatile int16_t ServoNickValue = 0; |
| volatile int16_t ServoRollValue = 0; |
| enum { |
| STOP = 0, |
| CK = 1, |
| 84,78 → 19,78 |
| }; |
| ISR(TIMER0_OVF_vect) // 9,7kHz |
| SIGNAL (SIG_OVERFLOW0) // 8kHz |
| { |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| unsigned char pieper_ein = 0; |
| if(BytegapSPI) BytegapSPI--; |
| if(SpektrumTimer) SpektrumTimer--; |
| static unsigned char cnt_1ms = 1,cnt = 0; |
| // TCNT0 -= 250;//TIMER_RELOAD_VALUE; |
| if(!cnt--) |
| { |
| cnt = 9; |
| CountMilliseconds++; |
| cnt = 9; |
| cnt_1ms++; |
| cnt_1ms %= 2; |
| if(!cnt_1ms) UpdateMotor = 1; |
| CountMilliseconds++; |
| if(Timeout) Timeout--; |
| } |
| if(!cnt_1ms) if(UpdateMotor < 4) UpdateMotor++; |
| if(!(PINC & 0x10)) JustMK3MagConnected = 1; |
| if(beeptime) |
| if(beeptime > 1) |
| { |
| if(beeptime > 10) beeptime -= 10; else beeptime = 0; |
| if(beeptime & BeepMuster) |
| { |
| pieper_ein = 1; |
| } |
| else pieper_ein = 0; |
| beeptime--; |
| PORTD |= (1<<2); |
| } |
| else |
| { |
| pieper_ein = 0; |
| BeepMuster = 0xffff; |
| } |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(pieper_ein) PORTC |= (1<<7); // Speaker an PORTC.7 |
| else PORTC &= ~(1<<7); |
| #else |
| 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); |
| } |
| #endif |
| } |
| if(JustMK3MagConnected && !NaviDataOkay && Parameter_GlobalConfig & CFG_KOMPASS_AKTIV) |
| else |
| PORTD &= ~(1<<2); |
| if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) |
| { |
| if(PINC & 0x10) |
| { |
| if(++cntKompass > 1000) JustMK3MagConnected = 0; |
| cntKompass++; |
| } |
| else |
| { |
| if((cntKompass) && (cntKompass < 362)) |
| { |
| cntKompass += cntKompass / 41; |
| if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0; |
| } |
| if((cntKompass) && (cntKompass < 4000)) |
| { |
| KompassValue = cntKompass; |
| } |
| // if(cntKompass < 10) cntKompass = 10; |
| // KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L; |
| KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180; |
| 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 = -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) |
| unsigned int SetDelay (unsigned int t) |
| { |
| // TIMSK0 &= ~_BV(TOIE0); |
| return(CountMilliseconds + t + 1); |
| return(CountMilliseconds + t + 1); |
| // TIMSK0 |= _BV(TOIE0); |
| } |
| 175,320 → 110,30 |
| while (!CheckDelay(akt)); |
| } |
| void Delay_ms_Mess(unsigned int w) |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // Servo ansteuern |
| // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| SIGNAL(SIG_OUTPUT_COMPARE2A) |
| { |
| unsigned int akt; |
| akt = SetDelay(w); |
| while (!CheckDelay(akt)) if(AdReady) {AdReady = 0; ANALOG_ON;} |
| } |
| 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; |
| /*****************************************************/ |
| /* Initialize Timer 2 */ |
| /*****************************************************/ |
| // The timer 2 is used to generate the PWM at PD7 (J7) |
| // to control a camera servo for nick compensation. |
| void TIMER2_Init(void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| PORTD &= ~(1<<PORTD7); // set PD7 to low |
| DDRC |= (1<<DDC6); // set PC6 as output (Reset for HEF4017) |
| HEF4017Reset_ON; |
| // Timer/Counter 2 Control Register A |
| // Timer Mode is FastPWM with timer reload at OCR2A (Bits: WGM22 = 1, WGM21 = 1, WGM20 = 1) |
| // PD7: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
| // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0) |
| TCCR2A &= ~((1<<COM2A1)|(1<<COM2A0)|(1<<COM2B1)|(1<<COM2B0)); |
| TCCR2A |= (1<<WGM21)|(1<<WGM20); |
| // Timer/Counter 2 Control Register B |
| // Set clock divider for timer 2 to SYSKLOCK/32 = 20MHz / 32 = 625 kHz |
| // The timer increments from 0x00 to 0xFF with an update rate of 625 kHz or 1.6 us |
| // hence the timer overflow interrupt frequency is 625 kHz / 256 = 2.44 kHz or 0.4096 ms |
| // divider 32 (Bits: CS022 = 0, CS21 = 1, CS20 = 1) |
| TCCR2B &= ~((1<<FOC2A)|(1<<FOC2B)|(1<<CS22)); |
| TCCR2B |= (1<<CS21)|(1<<CS20)|(1<<WGM22); |
| // Initialize the Timer/Counter 2 Register |
| TCNT2 = 0; |
| // Initialize the Output Compare Register A used for PWM generation on port PD7. |
| OCR2A = 255; |
| TCCR2A |= (1<<COM2A1); // set or clear at compare match depends on value of COM2A0 |
| // Timer/Counter 2 Interrupt Mask Register |
| // Enable timer output compare match A Interrupt only |
| TIMSK2 &= ~((1<<OCIE2B)|(1<<TOIE2)); |
| // TIMSK2 |= (1<<OCIE2A); -> will be done in the main() |
| SREG = sreg; |
| DebugOut.Analog[10] = ServoValue; |
| OCR2A = ServoValue;// + 75; |
| timer = EE_Parameter.ServoNickRefresh; |
| } |
| else |
| { |
| TCCR2A =3; |
| PORTD&=~0x80; |
| } |
| } |
| //---------------------------- |
| void Timer_Init(void) |
| { |
| tim_main = SetDelay(10); |
| TCCR0B = CK8; |
| // TCCR0A = (1<<COM0A1)|(1<<COM0B1)|3;//fast PWM |
| TCCR0A = (1<<COM0A1)|(1<<COM0B1)|(1<<COM0B0)|3;//fast PWM |
| OCR0B = 255; |
| OCR0A = 180; |
| TCNT0 = (unsigned char)-TIMER_RELOAD_VALUE; // reload |
| //OCR1 = 0x00; |
| TIMSK0 |= _BV(TOIE0); |
| } |
| /*****************************************************/ |
| /* Control Servo Position */ |
| /*****************************************************/ |
| void CalcNickServoValue(void) |
| { |
| signed int max, min; |
| if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) // relative moving of the servo value |
| { |
| max = ((unsigned int) EE_Parameter.ServoNickMax * MULTIPLYER * 15); |
| min = ((unsigned int) EE_Parameter.ServoNickMin * MULTIPLYER * 20); |
| NickServoValue -= ((signed char) (Parameter_ServoNickControl - 128) / 4) * 6; |
| LIMIT_MIN_MAX(NickServoValue,min, max); |
| } |
| else NickServoValue = (int16_t)Parameter_ServoNickControl * (MULTIPLYER*16); // direct poti control |
| } |
| void CalculateServo(unsigned char init) |
| { |
| signed char cosinus, sinus; |
| signed long nick, roll; |
| cosinus = sintab[EE_Parameter.CamOrientation + 6]; |
| sinus = sintab[EE_Parameter.CamOrientation]; |
| if(CalculateServoSignals == 1) |
| { |
| if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) nick = 0; |
| else nick = (cosinus * IntegralNick) / 128L - (sinus * IntegralRoll) / 128L; |
| nick -= POI_KameraNick * 7; |
| nick = ((long)Parameter_ServoNickComp * nick) / 512L; |
| // offset (Range from 0 to 255 * 3 = 765) |
| if(EE_Parameter.ServoCompInvert & SERVO_RELATIVE) ServoNickOffset = NickServoValue; |
| else ServoNickOffset += (NickServoValue - ServoNickOffset) / EE_Parameter.ServoManualControlSpeed; |
| if(EE_Parameter.ServoCompInvert & SERVO_NICK_INV) // inverting movement of servo |
| { |
| nick = ServoNickOffset / 16 + nick; |
| } |
| else |
| { // inverting movement of servo |
| nick = ServoNickOffset / 16 - nick; |
| } |
| if(EE_Parameter.ServoFilterNick && !init) 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)) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMin * MULTIPLYER; |
| } |
| else |
| if(ServoNickValue > ((int16_t)EE_Parameter.ServoNickMax * MULTIPLYER)) |
| { |
| ServoNickValue = (int16_t)EE_Parameter.ServoNickMax * MULTIPLYER; |
| } |
| // if(PlatinenVersion < 20) CalculateServoSignals = 0; else |
| CalculateServoSignals++; |
| } |
| else |
| { |
| if(EE_Parameter.GlobalConfig3 & CFG3_SERVO_NICK_COMP_OFF) roll = 0; |
| else roll = (cosinus * IntegralRoll) / 128L + (sinus * IntegralNick) / 128L; |
| roll = ((long)Parameter_ServoRollComp * roll) / 512L; |
| ServoRollOffset += ((int16_t)Parameter_ServoRollControl * (MULTIPLYER*16) - ServoRollOffset) / EE_Parameter.ServoManualControlSpeed; |
| if(EE_Parameter.ServoCompInvert & SERVO_ROLL_INV) |
| { // inverting movement of servo |
| roll = ServoRollOffset / 16 + roll; |
| } |
| else |
| { // inverting movement of servo |
| roll = ServoRollOffset / 16 - roll; |
| } |
| if(EE_Parameter.ServoFilterRoll && !init) 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)) |
| { |
| ServoRollValue = (int16_t)EE_Parameter.ServoRollMin * MULTIPLYER; |
| } |
| else |
| if(ServoRollValue > ((int16_t)EE_Parameter.ServoRollMax * MULTIPLYER)) |
| { |
| ServoRollValue = (int16_t)EE_Parameter.ServoRollMax * MULTIPLYER; |
| } |
| CalculateServoSignals = 0; |
| } |
| } |
| ISR(TIMER2_COMPA_vect) |
| { |
| // frame len 22.5 ms = 14063 * 1.6 us |
| // stop pulse: 0.3 ms = 188 * 1.6 us |
| // min servo pulse: 0.6 ms = 375 * 1.6 us |
| // max servo pulse: 2.4 ms = 1500 * 1.6 us |
| // resolution: 1500 - 375 = 1125 steps |
| #define IRS_RUNTIME 127 |
| #define PPM_STOPPULSE 188 |
| #define PPM_FRAMELEN (1757 * EE_Parameter.ServoNickRefresh) |
| #define MINSERVOPULSE 375 |
| #define MAXSERVOPULSE 1500 |
| #define SERVORANGE (MAXSERVOPULSE - MINSERVOPULSE) |
| static uint8_t PulseOutput = 0; |
| static uint16_t ServoFrameTime = 0; |
| static uint8_t ServoIndex = 0; |
| /* |
| if(PlatinenVersion < 20) |
| { |
| //--------------------------- |
| // Nick servo state machine |
| //--------------------------- |
| if(!PulseOutput) // pulse output complete |
| { |
| if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
| { |
| TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; // shift ServoNickValue to center position |
| // range servo pulse width |
| if(RemainingPulse > MAXSERVOPULSE ) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| else if(RemainingPulse < MINSERVOPULSE ) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| // accumulate time for correct update rate |
| ServoFrameTime = RemainingPulse; |
| } |
| else // we had a high pulse |
| { |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| RemainingPulse = PPM_FRAMELEN - ServoFrameTime; |
| CalculateServoSignals = 1; |
| } |
| // set pulse output active |
| PulseOutput = 1; |
| } |
| } // EOF Nick servo state machine |
| else |
| */ |
| { |
| //----------------------------------------------------- |
| // PPM state machine, onboard demultiplexed by HEF4017 |
| //----------------------------------------------------- |
| if(!PulseOutput) // pulse output complete |
| { |
| if(TCCR2A & (1<<COM2A0)) // we had a low pulse |
| { |
| TCCR2A &= ~(1<<COM2A0);// make a high pulse |
| if(ServoIndex == 0) // if we are at the sync gap |
| { |
| RemainingPulse = PPM_FRAMELEN - ServoFrameTime; // generate sync gap by filling time to full frame time |
| ServoFrameTime = 0; // reset servo frame time |
| HEF4017Reset_ON; // enable HEF4017 reset |
| } |
| else // servo channels |
| if(ServoIndex > EE_Parameter.ServoNickRefresh) |
| { |
| RemainingPulse = 10; // end it here |
| } |
| else |
| { |
| RemainingPulse = MINSERVOPULSE + SERVORANGE/2; // center position ~ 1.5ms |
| if(ServoFailsafeActive && ServoIndex < 6 && EE_Parameter.ServoFS_Pos[ServoIndex-1]) RemainingPulse += ((int16_t)EE_Parameter.ServoFS_Pos[ServoIndex-1] * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| else |
| switch(ServoIndex) // map servo channels |
| { |
| case 1: // Nick Compensation Servo |
| RemainingPulse += ServoNickValue - (256 / 2) * MULTIPLYER; |
| break; |
| case 2: // Roll Compensation Servo |
| RemainingPulse += ServoRollValue - (256 / 2) * MULTIPLYER; |
| break; |
| case 3: |
| RemainingPulse += ((int16_t)Parameter_Servo3 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| case 4: |
| RemainingPulse += ((int16_t)Parameter_Servo4 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| case 5: |
| RemainingPulse += ((int16_t)Parameter_Servo5 * MULTIPLYER) - (256 / 2) * MULTIPLYER; |
| break; |
| default: // other servo channels |
| RemainingPulse += 2 * PPM_in[ServoIndex]; // add channel value, factor of 2 because timer 1 increments 3.2µs |
| break; |
| } |
| // range servo pulse width |
| if(RemainingPulse > MAXSERVOPULSE) RemainingPulse = MAXSERVOPULSE; // upper servo pulse limit |
| else if(RemainingPulse < MINSERVOPULSE) RemainingPulse = MINSERVOPULSE; // lower servo pulse limit |
| // substract stop pulse width |
| RemainingPulse -= PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += RemainingPulse; |
| } |
| } |
| else // we had a high pulse |
| { |
| TCCR2A |= (1<<COM2A0); // make a low pulse |
| // set pulsewidth to stop pulse width |
| RemainingPulse = PPM_STOPPULSE; |
| // accumulate time for correct sync gap |
| ServoFrameTime += RemainingPulse; |
| if((ServoActive) || ServoActive == 2) HEF4017Reset_OFF; // disable HEF4017 reset |
| else HEF4017Reset_ON; |
| ServoIndex++; |
| if(ServoIndex > EE_Parameter.ServoNickRefresh+1) |
| { |
| CalculateServoSignals = 1; |
| ServoIndex = 0; // reset to the sync gap |
| } |
| } |
| // set pulse output active |
| PulseOutput = 1; |
| } |
| } // EOF PPM state machine |
| // General pulse output generator |
| if(RemainingPulse > (255 + IRS_RUNTIME)) |
| { |
| OCR2A = 255; |
| RemainingPulse -= 255; |
| } |
| else |
| { |
| if(RemainingPulse > 255) // this is the 2nd last part |
| { |
| if((RemainingPulse - 255) < IRS_RUNTIME) |
| { |
| OCR2A = 255 - IRS_RUNTIME; |
| RemainingPulse -= 255 - IRS_RUNTIME; |
| } |
| else // last part > ISR_RUNTIME |
| { |
| OCR2A = 255; |
| RemainingPulse -= 255; |
| } |
| } |
| else // this is the last part |
| { |
| OCR2A = RemainingPulse; |
| RemainingPulse = 0; |
| PulseOutput = 0; // trigger to stop pulse |
| } |
| } // EOF general pulse output generator |
| } |
| /trunk/timer0.h |
|---|
| 1,25 → 1,14 |
| #define TIMER_TEILER CK8 |
| #define TIMER_RELOAD_VALUE 250 |
| #define HEF4017Reset_ON PORTC |= (1<<PORTC6) |
| #define HEF4017Reset_OFF PORTC &= ~(1<<PORTC6) |
| void Timer_Init(void); |
| void TIMER2_Init(void); |
| void Delay_ms(unsigned int); |
| void Delay_ms_Mess(unsigned int); |
| unsigned int SetDelay (unsigned int t); |
| char CheckDelay (unsigned int t); |
| void CalculateServo(unsigned char init); |
| void CalcNickServoValue(void); |
| extern volatile unsigned int CountMilliseconds; |
| extern volatile unsigned char UpdateMotor; |
| extern volatile unsigned int beeptime; |
| extern volatile unsigned int cntKompass; |
| extern unsigned int BeepMuster; |
| extern volatile unsigned char BytegapSPI, ServoActive, CalculateServoSignals; |
| extern volatile int16_t ServoNickValue; |
| extern volatile int16_t ServoRollValue; |
| extern signed int NickServoValue; |
| extern unsigned char JustMK3MagConnected; |
| extern int ServoValue; |
| /trunk/twimaster.c |
|---|
| 1,487 → 1,131 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + www.MikroKopter.com |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| /*############################################################################ |
| ############################################################################*/ |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| #include <util/twi.h> |
| #include "eeprom.h" |
| #include "twimaster.h" |
| #include "fc.h" |
| #include "analog.h" |
| #include "uart.h" |
| #include "timer0.h" |
| #include "main.h" |
| volatile uint8_t twi_state = TWI_STATE_MOTOR_TX, ReadBlSize = 9; |
| volatile uint8_t dac_channel = 0; |
| volatile uint8_t motor_write = 0; |
| volatile uint8_t motor_read = 0; |
| volatile uint8_t I2C_TransferActive = 0; |
| uint8_t Max_I2C_Packets = 12; |
| unsigned char twi_state = 0; |
| unsigned char motor = 0; |
| unsigned char motorread = 0; |
| unsigned char motor_rx[8]; |
| volatile uint16_t I2CTimeout = 100; |
| uint8_t MissingMotor = 0; |
| volatile uint8_t BLFlags = 0; |
| MotorData_t Motor[MAX_MOTORS]; |
| RedundantBl_t RedundantMotor[MAX_MOTORS]; |
| // bit mask for witch BL the configuration should be sent |
| volatile uint16_t BLConfig_WriteMask = 0; |
| // bit mask for witch BL the configuration should be read |
| volatile uint16_t BLConfig_ReadMask = 0; |
| // buffer for BL Configuration |
| BLConfig_t BLConfig; |
| #define I2C_WriteByte(byte) {TWDR = byte; TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
| #define I2C_ReceiveByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE) | (1<<TWEA);} |
| #define I2C_ReceiveLastByte() {TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE);} |
| #define SCL_CLOCK 200000L |
| #define I2C_TIMEOUT 30000 |
| #define TWI_BASE_ADDRESS 0x52 |
| /**************************************************/ |
| /* Initialize I2C (TWI) */ |
| /**************************************************/ |
| void I2C_Init(char clear) |
| //############################################################################ |
| //Initzialisieren der I2C (TWI) Schnittstelle |
| void i2c_init(void) |
| //############################################################################ |
| { |
| uint8_t i; |
| uint8_t sreg = SREG; |
| cli(); |
| // SDA is INPUT |
| DDRC &= ~(1<<DDC1); |
| // SCL is output |
| DDRC |= (1<<DDC0); |
| // pull up SDA |
| PORTC |= (1<<PORTC0)|(1<<PORTC1); |
| // TWI Status Register |
| // prescaler 1 (TWPS1 = 0, TWPS0 = 0) |
| TWSR &= ~((1<<TWPS1)|(1<<TWPS0)); |
| // set TWI Bit Rate Register |
| TWBR = ((F_CPU/SCL_CLOCK)-16)/2; |
| twi_state = TWI_STATE_MOTOR_TX; |
| motor_write = 0; |
| motor_read = 0; |
| if(clear) for(i=0; i < MAX_MOTORS; i++) |
| { |
| Motor[i].Version = 0; |
| Motor[i].SetPoint = 0; |
| Motor[i].SetPointLowerBits = 0; |
| Motor[i].State = 0; |
| Motor[i].ReadMode = BL_READMODE_STATUS; |
| Motor[i].Current = 0; |
| Motor[i].MaxPWM = 0; |
| Motor[i].Temperature = 0; |
| Motor[i].NotReadyCnt = 0; |
| Motor[i].RPM = 0; |
| Motor[i].reserved1 = 0; |
| Motor[i].Voltage = 0; |
| Motor[i].SlaveI2cError = 0; |
| Motor[i].VersionMajor = 0; |
| Motor[i].VersionMinor = 0; |
| } |
| sei(); |
| SREG = sreg; |
| TWSR = 0; |
| TWBR = ((SYSCLK/SCL_CLOCK)-16)/2; |
| } |
| void I2C_Reset(void) |
| //############################################################################ |
| //Start I2C |
| char i2c_start(void) |
| //############################################################################ |
| { |
| // stop i2c bus |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| TWCR = (1<<TWINT); // reset to original state incl. interrupt flag reset |
| TWAMR = 0; |
| TWAR = 0; |
| TWDR = 0; |
| TWSR = 0; |
| TWBR = 0; |
| I2C_TransferActive = 0; |
| I2C_Init(0); |
| I2C_WriteByte(0); |
| BLFlags |= BLFLAG_READ_VERSION; |
| TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE); |
| return(0); |
| } |
| /****************************************/ |
| /* I2C ISR */ |
| /****************************************/ |
| ISR (TWI_vect) |
| //############################################################################ |
| //Start I2C |
| void i2c_stop(void) |
| //############################################################################ |
| { |
| static uint8_t missing_motor = 0, motor_read_temperature = 0; |
| static uint8_t *pBuff = 0; |
| static uint8_t BuffLen = 0; |
| static uint8_t max_packets = 0; |
| switch (twi_state++) |
| { |
| // Master Transmit |
| case 0: // TWI_STATE_MOTOR_TX |
| I2C_TransferActive = 1; |
| // skip motor if not used in mixer |
| while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++; |
| motor_write %= MAX_MOTORS; |
| if(++max_packets > Max_I2C_Packets) // writing finished, read now |
| { |
| max_packets = 0; |
| BLConfig_WriteMask = 0; // reset configuration bitmask |
| //motor_write = 0; // reset motor write counter for next cycle |
| twi_state = TWI_STATE_MOTOR_RX; |
| I2C_WriteByte(TWI_BASE_ADDRESS + TW_READ + (motor_read<<1) ); // select slave address in rx mode |
| } |
| else I2C_WriteByte(TWI_BASE_ADDRESS + TW_WRITE + (motor_write<<1) ); // select slave address in tx mode |
| break; |
| case 1: // Send Data to Slave |
| I2C_WriteByte(Motor[motor_write].SetPoint); // transmit setpoint |
| // if old version has been detected |
| if(!(Motor[motor_write].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) |
| { |
| twi_state = 4; //jump over sending more data |
| } |
| // the new version has been detected |
| else if(!( (Motor[motor_write].SetPointLowerBits && (RequiredMotors < 7)) || BLConfig_WriteMask || BLConfig_ReadMask ) ) |
| { // or LowerBits are zero and no BlConfig should be sent (saves round trip time) |
| twi_state = 4; //jump over sending more data |
| } |
| break; |
| case 2: // lower bits of setpoint (higher resolution) |
| if ((0x0001<<motor_write) & BLConfig_ReadMask) |
| { |
| Motor[motor_write].ReadMode = BL_READMODE_CONFIG; // configuration request |
| } |
| else |
| { |
| Motor[motor_write].ReadMode = BL_READMODE_STATUS; // normal status request |
| } |
| // send read mode and the lower bits of setpoint |
| I2C_WriteByte((Motor[motor_write].ReadMode<<3)|(Motor[motor_write].SetPointLowerBits & 0x07)); |
| // configuration tranmission request? |
| if((0x0001<<motor_write) & BLConfig_WriteMask) |
| { // redirect tx pointer to configuration data |
| pBuff = (uint8_t*)&BLConfig; // select config for motor |
| BuffLen = sizeof(BLConfig_t); |
| } |
| else |
| { // jump to end of transmission for that motor |
| twi_state = 4; |
| } |
| break; |
| case 3: // send configuration |
| I2C_WriteByte(*pBuff); |
| pBuff++; |
| if(--BuffLen > 0) twi_state = 3; // if there are some bytes left |
| break; |
| case 4: // repeat case 0-4 for all motors |
| if(TWSR == TW_MT_DATA_NACK) // Data transmitted, NACK received |
| { |
| if(!missing_motor) missing_motor = motor_write + 1; |
| if((Motor[motor_write].State & MOTOR_STATE_ERROR_MASK) < MOTOR_STATE_ERROR_MASK) Motor[motor_write].State++; // increment error counter and handle overflow |
| } |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2CTimeout = 10; |
| motor_write++; // next motor |
| I2C_Start(TWI_STATE_MOTOR_TX); // Repeated start -> switch slave or switch Master Transmit -> Master Receive |
| break; |
| // Master Receive Data |
| case 5: // TWI_STATE_MOTOR_RX |
| if(TWSR != TW_MR_SLA_ACK) // SLA+R transmitted but no ACK received |
| { // no response from the addressed slave received |
| Motor[motor_read].State &= ~MOTOR_STATE_PRESENT_MASK; // clear present bit |
| if(++motor_read >= MAX_MOTORS) |
| { // all motors read |
| motor_read = 0; // restart from beginning |
| BLConfig_ReadMask = 0; // reset read configuration bitmask |
| if(++motor_read_temperature >= MAX_MOTORS) |
| { |
| motor_read_temperature = 0; |
| BLFlags &= ~BLFLAG_READ_VERSION; |
| } |
| } |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2C_TransferActive = 0; |
| } |
| else |
| { // motor successfully addressed |
| Motor[motor_read].State |= MOTOR_STATE_PRESENT_MASK; // set present bit |
| if(Motor[motor_read].Version & MOTOR_STATE_NEW_PROTOCOL_MASK) |
| { |
| // new BL found |
| switch(Motor[motor_read].ReadMode) |
| { |
| case BL_READMODE_CONFIG: |
| pBuff = (uint8_t*)&BLConfig; |
| BuffLen = sizeof(BLConfig_t); |
| Motor[motor_read].ReadMode = BL_READMODE_STATUS; // only once |
| break; |
| case BL_READMODE_STATUS: |
| pBuff = (uint8_t*)&(Motor[motor_read].Current); |
| if(motor_read == motor_read_temperature) BuffLen = ReadBlSize; // read Current, MaxPwm & Temp (is 3 or 9) |
| else BuffLen = 1;// read Current only |
| break; |
| } |
| } |
| else // old BL version |
| { |
| pBuff = (uint8_t*)&(Motor[motor_read].Current); |
| if((BLFlags & BLFLAG_READ_VERSION) || (motor_read == motor_read_temperature)) BuffLen = 2; // Current & MaxPwm |
| else BuffLen = 1; // read Current only |
| } |
| if(BuffLen == 1) |
| { |
| I2C_ReceiveLastByte(); // read last byte |
| } |
| else |
| { |
| I2C_ReceiveByte(); // read next byte |
| } |
| } |
| MissingMotor = missing_motor; |
| missing_motor = 0; |
| break; |
| case 6: // receive bytes |
| *pBuff = TWDR; |
| pBuff++; // set Pointer to next element : Motor[].Current,Motor[].Temperature |
| BuffLen--; |
| if(BuffLen>1) |
| { |
| I2C_ReceiveByte(); // read next byte |
| } |
| else if (BuffLen == 1) |
| { |
| I2C_ReceiveLastByte(); // read last byte |
| } |
| else // nothing left -> ready |
| { |
| if(BLFlags & BLFLAG_READ_VERSION) |
| { |
| if(!(FC_StatusFlags & FC_STATUS_MOTOR_RUN)) |
| { |
| if((Motor[motor_read].MaxPWM & 252) == 248) Motor[motor_read].Version |= MOTOR_STATE_NEW_PROTOCOL_MASK; |
| else Motor[motor_read].Version = 0; |
| if(Motor[motor_read].MaxPWM == 248) Motor[motor_read].Version |= (MOTOR_STATE_FAST_MODE | MOTOR_STATE_BL30); |
| else |
| if(Motor[motor_read].MaxPWM == 249) Motor[motor_read].Version |= MOTOR_STATE_BL30; |
| } |
| } |
| if(FC_StatusFlags & FC_STATUS_FLY) |
| { |
| // Starting -> 40 |
| // I2C-Setpoint is zero -> 250 |
| // 255 -> Running and no Redundancy |
| // 254 -> Running and active Redundancy |
| if(Motor[motor_read].MaxPWM < 254) |
| { |
| Motor[motor_read].NotReadyCnt++; |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| SpeakHoTT = SPEAK_ERR_MOTOR; |
| #endif |
| } |
| } |
| if(++motor_read >= MAX_MOTORS) |
| { |
| motor_read = 0; // restart from beginning |
| BLConfig_ReadMask = 0; // reset read configuration bitmask |
| if(++motor_read_temperature >= MAX_MOTORS) |
| { |
| motor_read_temperature = 0; |
| BLFlags &= ~BLFLAG_READ_VERSION; |
| } |
| } |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| I2C_TransferActive = 0; |
| return; |
| } |
| twi_state = 6; // if there are some bytes left |
| break; |
| /* |
| // writing Gyro-Offsets |
| case 18: |
| I2C_WriteByte(0x98); // Address the DAC |
| break; |
| case 19: |
| I2C_WriteByte(0x10 + (dac_channel * 2)); // Select DAC Channel (0x10 = A, 0x12 = B, 0x14 = C) |
| break; |
| case 20: |
| switch(dac_channel) |
| { |
| case 0: |
| I2C_WriteByte(AnalogOffsetNick); // 1st byte for Channel A |
| break; |
| case 1: |
| I2C_WriteByte(AnalogOffsetRoll); // 1st byte for Channel B |
| break; |
| case 2: |
| I2C_WriteByte(AnalogOffsetGier); // 1st byte for Channel C |
| break; |
| } |
| break; |
| case 21: |
| I2C_WriteByte(0x80); // 2nd byte for all channels is 0x80 |
| break; |
| case 22: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| I2C_TransferActive = 0; |
| I2CTimeout = 10; |
| // repeat case 18...22 until all DAC Channels are updated |
| if(dac_channel < 2) |
| { |
| dac_channel ++; // jump to next channel |
| I2C_Start(TWI_STATE_GYRO_OFFSET_TX); // start transmission for next channel |
| } |
| else |
| { |
| dac_channel = 0; // reset dac channel counter |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| } |
| break; |
| */ |
| default: |
| I2C_Stop(TWI_STATE_MOTOR_TX); |
| BLFlags |= BLFLAG_TX_COMPLETE; |
| I2CTimeout = 10; |
| motor_write = 0; |
| motor_read = 0; |
| I2C_TransferActive = 0; |
| break; |
| } |
| TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT); |
| } |
| uint8_t I2C_WriteBLConfig(uint8_t motor) |
| { |
| uint8_t i, packets; |
| uint16_t timer; |
| if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(motor) |
| { |
| if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
| } |
| // check BL configuration to send |
| if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| packets = Max_I2C_Packets; |
| Max_I2C_Packets = MAX_MOTORS; |
| I2CTimeout = 100; |
| timer = SetDelay(100); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| // prepare the bitmask |
| if(!motor) BLConfig_WriteMask = 0x0FFF; // 0 means all -> all motors at once with the same configuration |
| else BLConfig_WriteMask = 0x0001<<(motor-1); //only one specific motor |
| motor_write = 0; |
| motor_read = 0; |
| // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| timer = SetDelay(1000); |
| do |
| { |
| I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| } while(BLConfig_WriteMask && !CheckDelay(timer)); // repeat until the BL config has been sent |
| Max_I2C_Packets = packets; |
| if(BLConfig_WriteMask) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); |
| return(BLCONFIG_SUCCESS); |
| //############################################################################ |
| //Start I2C |
| char i2c_write_byte(char byte) |
| //############################################################################ |
| { |
| TWSR = 0x00; |
| TWDR = byte; |
| TWCR = (1<<TWINT) | (1<<TWEN) | (1<<TWIE); |
| return(0); |
| } |
| uint8_t I2C_ReadBLConfig(uint8_t motor) |
| //############################################################################ |
| //Start I2C |
| SIGNAL (TWI_vect) |
| //############################################################################ |
| { |
| uint8_t i; |
| uint16_t timer; |
| if(MotorenEin || PC_MotortestActive) return(BLCONFIG_ERR_MOTOR_RUNNING); // not when motors are running! |
| if(motor > MAX_MOTORS) return (BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(motor == 0) return (BLCONFIG_ERR_READ_NOT_POSSIBLE); |
| if(!(Motor[motor-1].State & MOTOR_STATE_PRESENT_MASK)) return(BLCONFIG_ERR_MOTOR_NOT_EXIST); // motor does not exist! |
| if(!(Motor[motor-1].Version & MOTOR_STATE_NEW_PROTOCOL_MASK)) return(BLCONFIG_ERR_HW_NOT_COMPATIBLE); // not a new BL! |
| timer = SetDelay(1000); |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| // prepare the bitmask |
| BLConfig_ReadMask = 0x0001<<(motor-1); |
| motor_write = 0; |
| motor_read = 0; |
| BLConfig.Revision = 0; // bad revision |
| BLConfig.crc = 0; // bad checksum |
| // needs at least MAX_MOTORS loops of 2 ms (12*2ms = 24ms) |
| do |
| { |
| I2C_Start(TWI_STATE_MOTOR_TX); // start an i2c transmission |
| while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| } while(BLConfig_ReadMask && !CheckDelay(timer)); // repeat until the BL config has been received from all motors |
| // validate result |
| if((BLConfig.Revision & 0x0B) != BLCONFIG_REVISION) return (BLCONFIG_ERR_SW_NOT_COMPATIBLE); // bad revison |
| i = RAM_Checksum((uint8_t*)&BLConfig, sizeof(BLConfig_t) - 1); |
| if(i != BLConfig.crc) return(BLCONFIG_ERR_CHECKSUM); // bad checksum |
| return(BLCONFIG_SUCCESS); |
| 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(); |
| twi_state = 0; |
| } |
| } |
| /trunk/twimaster.h |
|---|
| 1,126 → 1,32 |
| /*############################################################################ |
| ############################################################################*/ |
| #ifndef _I2C_MASTER_H |
| #define _I2C_MASTER_H |
| -#include <inttypes.h> |
| +//############################################################################ |
| -#define TWI_STATE_MOTOR_TX 0 |
| -#define TWI_STATE_MOTOR_RX 5 |
| -//#define TWI_STATE_GYRO_OFFSET_TX 18 |
| +// 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 volatile uint8_t twi_state, ReadBlSize; |
| -extern volatile uint8_t motor_write; |
| -extern volatile uint8_t motor_read; |
| -extern volatile uint8_t I2C_TransferActive; |
| -extern uint8_t Max_I2C_Packets; |
| -extern uint8_t MissingMotor; |
| +//############################################################################ |
| -#define MAX_MOTORS 16 |
| -#define MOTOR_STATE_PRESENT_MASK 0x80 |
| -#define MOTOR_STATE_ERROR_MASK 0x7F |
| +extern unsigned char twi_state; |
| +extern unsigned char motor; |
| +extern unsigned char motorread; |
| +extern unsigned char motor_rx[8]; |
| -//Motor[x].Version |
| -#define MOTOR_STATE_NEW_PROTOCOL_MASK 0x01 |
| -#define MOTOR_STATE_FAST_MODE 0x02 |
| -#define MOTOR_STATE_BL30 0x04 // extended Current measurement -> 200 = 20A 201 = 21A 255 = 75A (20+55) |
| -#define BLFLAG_TX_COMPLETE 0x01 |
| -#define BLFLAG_READ_VERSION 0x02 |
| +void i2c_init (void); // I2C initialisieren |
| +char i2c_start (void); // Start I2C |
| +void i2c_stop (void); // Stop I2C |
| +char i2c_write_byte (char byte); // 1 Byte schreiben |
| -extern volatile uint8_t BLFlags; |
| - |
| -#define BL_READMODE_STATUS 0 |
| -#define BL_READMODE_CONFIG 16 |
| - |
| -typedef struct |
| -{ |
| - uint8_t Version; // the version of the BL (0 = old) |
| - uint8_t SetPoint; // written by attitude controller |
| - uint8_t SetPointLowerBits; // for higher Resolution of new BLs |
| - uint8_t State; // 7 bit for I2C error counter, highest bit indicates if motor is present |
| - uint8_t ReadMode; // select data to read |
| - // the following bytes must be exactly in that order! |
| - uint8_t Current; // in 0.1 A steps, read back from BL |
| - uint8_t MaxPWM; // read back from BL -> is less than 255 if BL is in current limit, not running (250) or starting (40) |
| - uint8_t Temperature; // old BL-Ctrl will return a 255 here, the new version the temp. in °C |
| - uint8_t RPM; // Raw value for RPM |
| - uint8_t reserved1; // Voltage (BL3) or mAh (BL2) |
| - uint8_t Voltage; // in 0.1V (BL3 is limited to 255, BL2 is only low-byte) |
| - uint8_t SlaveI2cError; // BL2 & BL3 |
| - uint8_t VersionMajor; // BL2 & BL3 |
| - uint8_t VersionMinor; // BL2 & BL3 |
| - uint8_t NotReadyCnt; // Counts up is the Motor is not ready during flight -> MotorRestart etc. |
| -} __attribute__((packed)) MotorData_t; |
| - |
| -extern MotorData_t Motor[MAX_MOTORS]; |
| - |
| -// BitSate |
| -#define BL_BIT_STATE_I2C_OK 0x01 |
| -#define BL_BIT_STATE_I2C_VALUE 0x02 |
| -#define BL_BIT_STATE_I2C_BAD 0x04 |
| -#define BL_BIT_STATE_PPM_OK 0x08 |
| -#define BL_BIT_STATE_MOTOR_RUN 0x10 |
| - |
| -typedef struct |
| -{ |
| - unsigned char BitSate; |
| - unsigned char Current; |
| - unsigned char State; |
| - unsigned char TemperatureInDeg; |
| - unsigned char Voltage80; |
| -} __attribute__((packed)) RedundantBl_t; |
| -extern RedundantBl_t RedundantMotor[MAX_MOTORS]; |
| - |
| -#define BLCONFIG_REVISION 2 |
| - |
| -#define MASK_SET_PWM_SCALING 0x01 |
| -#define MASK_SET_CURRENT_LIMIT 0x02 |
| -#define MASK_SET_TEMP_LIMIT 0x04 |
| -#define MASK_SET_CURRENT_SCALING 0x08 |
| -#define MASK_SET_BITCONFIG 0x10 |
| -#define MASK_SET_STARTPWM 0x20 |
| -#define MASK_SET_DEFAULT_PARAMS 0x40 |
| -#define MASK_SET_SAVE_EEPROM 0x80 |
| - |
| -#define BITCONF_REVERSE_ROTATION 0x01 |
| -#define BITCONF_STARTGAS1 0x02 |
| -#define BITCONF_STARTGAS2 0x04 |
| -#define BITCONF_STARTGAS3 0x08 |
| -#define BITCONF_RES4 0x10 |
| -#define BITCONF_RES5 0x20 |
| -#define BITCONF_RES6 0x40 |
| -#define BITCONF_RES7 0x80 |
| - |
| -typedef struct |
| -{ |
| - uint8_t Revision; // must be BL_REVISION |
| - uint8_t SetMask; // settings mask |
| - uint8_t PwmScaling; // maximum value of control pwm, acts like a thrust limit |
| - uint8_t CurrentLimit; // current limit in A |
| - uint8_t TempLimit; // in °C |
| - uint8_t CurrentScaling; // scaling factor for current measurement |
| - uint8_t BitConfig; // see defines above |
| - uint8_t crc; // checksum |
| -} __attribute__((packed)) BLConfig_t; |
| - |
| -extern BLConfig_t BLConfig; |
| - |
| -extern volatile uint16_t I2CTimeout; |
| - |
| -void I2C_Init(char); // Initialize I2C |
| -#define I2C_Start(start_state) {twi_state = start_state; BLFlags &= ~BLFLAG_TX_COMPLETE; TWCR = (1<<TWSTA) | (1<<TWEN) | (1<<TWINT) | (1<<TWIE);} |
| -#define I2C_Stop(start_state) {twi_state = start_state; TWCR = (1<<TWEN) | (1<<TWSTO) | (1<<TWINT);} |
| -void I2C_Reset(void); // Reset I2C |
| - |
| -#define BLCONFIG_SUCCESS 0 |
| -#define BLCONFIG_ERR_MOTOR_RUNNING 1 |
| -#define BLCONFIG_ERR_MOTOR_NOT_EXIST 2 |
| -#define BLCONFIG_ERR_HW_NOT_COMPATIBLE 3 |
| -#define BLCONFIG_ERR_SW_NOT_COMPATIBLE 4 |
| -#define BLCONFIG_ERR_CHECKSUM 5 |
| -#define BLCONFIG_ERR_READ_NOT_POSSIBLE 6 |
| - |
| -uint8_t I2C_WriteBLConfig(uint8_t motor); |
| -uint8_t I2C_ReadBLConfig(uint8_t motor); |
| - |
| #endif |
| /trunk/uart.c |
|---|
| 1,204 → 1,57 |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software Nutzungsbedingungen (english version: see below) |
| // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
| // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
| // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
| // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
| // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
| // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
| // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
| // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
| // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
| // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
| // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
| // + des Mitverschuldens offen. |
| // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
| // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
| // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
| // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
| // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
| // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
| // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
| // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Software LICENSING TERMS |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
| // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
| // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
| // + The Software may only be used with the Licensor's products. |
| // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
| // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
| // + agreement shall be the property of the Licensor. |
| // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
| // + features that can be used to identify the program may not be altered or defaced by the customer. |
| // + The customer shall be responsible for taking reasonable precautions |
| // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
| // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
| // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
| // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
| // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
| // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
| // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
| // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
| // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
| // + #### END OF LICENSING TERMS #### |
| // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdarg.h> |
| #include <string.h> |
| #include <avr/pgmspace.h> |
| #include "main.h" |
| #include "uart.h" |
| #include "libfc.h" |
| #include "eeprom.h" |
| #define FC_ADDRESS 1 |
| #define NC_ADDRESS 2 |
| #define MK3MAG_ADDRESS 3 |
| #define BL_CTRL_ADDRESS 5 |
| #define ABO_TIMEOUT 4000 // disable abo after 4 seconds |
| #define MAX_SENDE_BUFF 250 // 180 setting need 246 bytes |
| #define MAX_EMPFANGS_BUFF 250 |
| #define BLPARAM_REVISION 1 |
| #define MASK_SET_PWM_SCALING 0x01 |
| #define MASK_SET_CURRENT_LIMIT 0x02 |
| #define MASK_SET_TEMP_LIMIT 0x04 |
| #define MASK_SET_CURRENT_SCALING 0x08 |
| #define MASK_SET_BITCONFIG 0x10 |
| #define MASK_RESET_CAPCOUNTER 0x20 |
| #define MASK_SET_DEFAULT_PARAMS 0x40 |
| #define MASK_SET_SAVE_EEPROM 0x80 |
| const unsigned int BAUDRATES[MAX_BD_RATES] = {12,24,48,96,144,192,288,384,576,1152,2560}; |
| unsigned char GetExternalControl = 0,DebugDisplayAnforderung1 = 0, DebugDisplayAnforderung = 0,DebugDataAnforderung = 0,GetVersionAnforderung = 0, GetPPMChannelAnforderung = 0; |
| unsigned char DisplayLine = 0; |
| 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; // achtung: das ist die AscII-Buffer länge, nicht die Nettodatenlänge |
| unsigned volatile char TxdBuffer[MAX_SENDE_BUFF]; |
| unsigned volatile char RxdBuffer[MAX_EMPFANGS_BUFF]; |
| unsigned char *pRxData = 0; |
| unsigned char RxDataLen = 0; |
| unsigned volatile char AnzahlEmpfangsBytes = 0; |
| unsigned volatile char PC_DebugTimeout = 0; |
| unsigned volatile char PC_MotortestActive = 0; |
| unsigned char DebugTextAnforderung = 255; |
| unsigned char PcZugriff = 100; |
| unsigned char MotorTest[16]; |
| unsigned char MeineSlaveAdresse = 1; // Flight-Ctrl |
| unsigned char ConfirmFrame; |
| unsigned char ExternalControlTimeout = 0; |
| unsigned char MotorTest[4] = {0,0,0,0}; |
| unsigned char MeineSlaveAdresse; |
| struct str_DebugOut DebugOut; |
| struct str_ExternControl ExternalControl; |
| struct str_Debug DebugIn; |
| struct str_VersionInfo VersionInfo; |
| struct str_WinkelOut WinkelOut; |
| struct str_Data3D Data3D; |
| int Debug_Timer; |
| int Display_Timer, Debug_Timer,Kompass_Timer,Timer3D; |
| unsigned int DebugDataIntervall = 0, Intervall3D = 0, Display_Interval = 0; |
| unsigned int AboTimeOut = 0; |
| unsigned volatile char ReceiverUpdateModeActive = 0; // 1 = Update 2 = JetiBox-Simulation |
| unsigned char SwitchMultiplexerToUpdate = 0; // the Uart-Multiplexer on the FC V3.0 |
| unsigned char SerialChannelDataOkay = 0; // timeout |
| unsigned int Baudrate_100 = 576; |
| #ifdef REDUNDANT_FC_SLAVE |
| unsigned char SerialMotorRequest = 0; |
| #endif |
| const unsigned char ANALOG_TEXT[32][16] PROGMEM = |
| { |
| //1234567890123456 |
| "AngleNick ", //0 |
| "AngleRoll ", |
| "AccNick ", |
| "AccRoll ", |
| "YawGyro ", |
| "Altitude [0.1m] ", //5 |
| "AccZ ", |
| "Gas ", |
| "Compass Value ", |
| "Voltage [0.1V] ", |
| "Receiver Level ", //10 |
| "Gyro Compass ", |
| "Motor 1 ", |
| "Motor 2 ", |
| "Motor 3 ", |
| "Motor 4 ", //15 |
| "16 Laser ", |
| "17 LsrCorrect ", |
| "18 HöheF ", |
| "19 HoehenWert ", |
| "Servo ", //20 |
| "Hovergas ", |
| "Current [0.1A] ", |
| "Capacity [mAh] ", |
| "Height Setpoint ", |
| "25 CorrFilter ", //25 |
| "26 Parameter ", //"26 CPU OverLoad ", |
| "SPI-Error ", |
| "I2C-Error ", |
| "BL Limit ", |
| "GPS_Nick ", //30 |
| "GPS_Roll " |
| }; |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Calculate checksum |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| unsigned char CalculateDebugLableCrc(void) |
| { |
| unsigned int i; |
| unsigned char crc = 0; |
| for(i=0;i<sizeof(ANALOG_TEXT);i++) crc += pgm_read_word(&ANALOG_TEXT[0][i]); |
| return(crc); |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Sende-Part der Datenübertragung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ISR(USART0_TX_vect) |
| SIGNAL(INT_VEC_TX) |
| { |
| static unsigned int ptr = 0; |
| unsigned char tmp_tx; |
| if(!UebertragungAbgeschlossen) |
| if(!UebertragungAbgeschlossen) |
| { |
| ptr++; // die [0] wurde schon gesendet |
| tmp_tx = TxdBuffer[ptr]; |
| tmp_tx = SendeBuffer[ptr]; |
| if((tmp_tx == '\r') || (ptr == MAX_SENDE_BUFF)) |
| { |
| //if(DebugOut.Analog[] < ptr) DebugOut.Analog[] = ptr; |
| ptr = 0; |
| UebertragungAbgeschlossen = 1; |
| } |
| UDR0 = tmp_tx; |
| } |
| else |
| { |
| ptr = 0; |
| UebertragungAbgeschlossen = 2; // last Byte was also transmitted |
| if(SwitchMultiplexerToUpdate == 1) UART_MUX_TO_UPDATE; |
| UDR = tmp_tx; |
| } |
| else ptr = 0; |
| } |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| //++ Empfangs-Part der Datenübertragung, incl. CRC-Auswertung |
| //+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| ISR(USART0_RX_vect) |
| SIGNAL(INT_VEC_RX) |
| { |
| static unsigned int crc; |
| static unsigned char crc1,crc2,buf_ptr; |
| 205,15 → 58,10 |
| static unsigned char UartState = 0; |
| unsigned char CrcOkay = 0; |
| if (ReceiverUpdateModeActive == 1) { UDR1 = UDR0; return; } // 1 = Update |
| if (ReceiverUpdateModeActive == 2) { RxdBuffer[0] = UDR0; return; } // 2 = JetiBox-Simulation |
| SioTmp = UDR0; |
| if(buf_ptr >= MAX_SENDE_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| SioTmp = UDR; |
| if(buf_ptr >= MAX_EMPFANGS_BUFF) UartState = 0; |
| if(SioTmp == '\r' && UartState == 2) |
| { |
| //if(DebugOut.Analog[] < buf_ptr) DebugOut.Analog[] = buf_ptr; |
| UartState = 0; |
| crc -= RxdBuffer[buf_ptr-2]; |
| crc -= RxdBuffer[buf_ptr-1]; |
| 224,16 → 72,11 |
| 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 + 1; |
| NeuerDatensatzEmpfangen = 1; |
| AnzahlEmpfangsBytes = buf_ptr; |
| RxdBuffer[buf_ptr] = '\r'; |
| if(RxdBuffer[2] == 'R' && !MotorenEin) |
| { |
| LcdClear(); |
| wdt_enable(WDTO_15MS); // Reset-Commando |
| ServoActive = 0; |
| } |
| } |
| if(/*(RxdBuffer[1] == MeineSlaveAdresse || (RxdBuffer[1] == 'a')) && */(RxdBuffer[2] == 'R')) wdt_enable(WDTO_250MS); // Reset-Commando |
| } |
| } |
| else |
| switch(UartState) |
| 251,13 → 94,12 |
| break; |
| case 2: // Eingangsdaten sammeln |
| RxdBuffer[buf_ptr] = SioTmp; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| if(buf_ptr < MAX_EMPFANGS_BUFF) buf_ptr++; |
| else UartState = 0; |
| //if(DebugOut.Analog[] < buf_ptr) DebugOut.Analog[] = buf_ptr; |
| crc += SioTmp; |
| break; |
| default: |
| UartState = 0; |
| default: |
| UartState = 0; |
| break; |
| } |
| } |
| 266,104 → 108,52 |
| // -------------------------------------------------------------------------- |
| void AddCRC(unsigned int wieviele) |
| { |
| unsigned int tmpCRC = 0,i; |
| unsigned int tmpCRC = 0,i; |
| for(i = 0; i < wieviele;i++) |
| { |
| tmpCRC += TxdBuffer[i]; |
| tmpCRC += SendeBuffer[i]; |
| } |
| // if(i > MAX_SENDE_BUFF - 3) tmpCRC += 11; |
| tmpCRC %= 4096; |
| TxdBuffer[i++] = '=' + tmpCRC / 64; |
| TxdBuffer[i++] = '=' + tmpCRC % 64; |
| TxdBuffer[i++] = '\r'; |
| SendeBuffer[i++] = '=' + tmpCRC / 64; |
| SendeBuffer[i++] = '=' + tmpCRC % 64; |
| SendeBuffer[i++] = '\r'; |
| UebertragungAbgeschlossen = 0; |
| UDR0 = TxdBuffer[0]; |
| //if(DebugOut.Analog[] < i) DebugOut.Analog[] = i; |
| UDR = SendeBuffer[0]; |
| } |
| // -------------------------------------------------------------------------- |
| void SendOutData(unsigned char cmd,unsigned char address, unsigned char BufferAnzahl, ...) //unsigned char *snd, unsigned char len) |
| void SendOutData(unsigned char cmd,unsigned char modul, unsigned char *snd, unsigned char len) |
| { |
| va_list ap; |
| unsigned int pt = 0; |
| unsigned char a,b,c; |
| unsigned char ptr = 0; |
| unsigned char *snd = 0; |
| int len = 0; |
| SendeBuffer[pt++] = '#'; // Startzeichen |
| SendeBuffer[pt++] = modul; // Adresse (a=0; b=1,...) |
| SendeBuffer[pt++] = cmd; // Commando |
| TxdBuffer[pt++] = '#'; // Startzeichen |
| TxdBuffer[pt++] = 'a' + address; // Adresse (a=0; b=1,...) |
| TxdBuffer[pt++] = cmd; // Commando |
| va_start(ap, BufferAnzahl); |
| if(BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| while(len) |
| { |
| if(len) |
| { |
| a = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else a = 0; |
| if(len) |
| { |
| b = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else b = 0; |
| if(len) |
| { |
| c = snd[ptr++]; |
| len--; |
| if((!len) && BufferAnzahl) |
| { |
| snd = va_arg(ap, unsigned char*); |
| len = va_arg(ap, int); |
| ptr = 0; |
| BufferAnzahl--; |
| } |
| } |
| else c = 0; |
| TxdBuffer[pt++] = '=' + (a >> 2); |
| TxdBuffer[pt++] = '=' + (((a & 0x03) << 4) | ((b & 0xf0) >> 4)); |
| TxdBuffer[pt++] = '=' + (((b & 0x0f) << 2) | ((c & 0xc0) >> 6)); |
| TxdBuffer[pt++] = '=' + ( c & 0x3f); |
| 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); |
| } |
| va_end(ap); |
| AddCRC(pt); |
| } |
| // -------------------------------------------------------------------------- |
| void Decode64(void) // die daten werden im rx buffer dekodiert, das geht nur, weil aus 4 byte immer 3 gemacht werden. |
| 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; |
| unsigned char ptrIn = 3; // start at begin of data block |
| unsigned char ptrOut = 3; |
| unsigned char len = AnzahlEmpfangsBytes - 6; // von der Gesamtbytezahl eines Frames gehen 3 Bytes des Headers ('#',Addr, Cmd) und 3 Bytes des Footers (CRC1, CRC2, '\r') ab. |
| while(len) |
| { |
| a = RxdBuffer[ptrIn++] - '='; |
| 370,18 → 160,17 |
| 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--) RxdBuffer[ptrOut++] = x; else break; |
| if(len--) RxdBuffer[ptrOut++] = y; else break; |
| if(len--) RxdBuffer[ptrOut++] = z; else break; |
| if(len--) ptrOut[ptr++] = x; else break; |
| if(len--) ptrOut[ptr++] = y; else break; |
| if(len--) ptrOut[ptr++] = z; else break; |
| } |
| pRxData = (unsigned char*)&RxdBuffer[3]; // decodierte Daten beginnen beim 4. Byte |
| RxDataLen = ptrOut - 3; // wie viele Bytes wurden dekodiert? |
| //if(DebugOut.Analog[] < AnzahlEmpfangsBytes) DebugOut.Analog[] = AnzahlEmpfangsBytes; |
| } |
| // -------------------------------------------------------------------------- |
| 389,611 → 178,151 |
| { |
| if(!NeuerDatensatzEmpfangen) return; |
| unsigned char tempchar1, tempchar2; |
| Decode64(); // dekodiere datenblock im Empfangsbuffer |
| switch(RxdBuffer[1]-'a') // check for Slave Address |
| { |
| case FC_ADDRESS: // FC special commands |
| switch(RxdBuffer[2]) |
| { |
| case 'K':// Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| break; |
| case 't':// Motortest |
| if(AnzahlEmpfangsBytes > 20) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| PC_MotortestActive = 240; |
| //while(!UebertragungAbgeschlossen); |
| //SendOutData('T', MeineSlaveAdresse, 0); |
| PcZugriff = 255; |
| break; |
| 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 '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 'n':// "Get Mixer |
| while(!UebertragungAbgeschlossen); |
| SendOutData('N', FC_ADDRESS, 1, (unsigned char *) &Mixer, sizeof(Mixer) - 1); |
| Debug("Mixer lesen"); |
| break; |
| case 'm':// "Write Mixer |
| if(pRxData[0] == EEMIXER_REVISION) |
| { |
| memcpy(&Mixer, (unsigned char *)pRxData, sizeof(Mixer) - 1); |
| MixerTable_WriteToEEProm(); |
| tempchar1 = 1; |
| VersionInfo.HardwareError[1] &= ~FC_ERROR1_MIXER; |
| } |
| else |
| { |
| tempchar1 = 0; |
| } |
| while(!UebertragungAbgeschlossen); |
| SendOutData('M', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| break; |
| case 'p': // get PPM Channels |
| GetPPMChannelAnforderung = 1; |
| PcZugriff = 255; |
| break; |
| case 'q':// "Get"-Anforderung für Settings |
| // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| if(!MotorenEin) |
| { |
| if((10 <= pRxData[0]) && (pRxData[0] < 20)) |
| { |
| tempchar1 = pRxData[0] - 10; |
| if(tempchar1 == 6) // sechs = alle löschen |
| { |
| SetDefaultParameter(1, 1); |
| SetDefaultParameter(2, 1); |
| SetDefaultParameter(3, 1); |
| SetDefaultParameter(4, 1); |
| SetDefaultParameter(5, 1); |
| tempchar1 = 3; |
| } |
| else |
| { |
| if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| SetDefaultParameter(tempchar1, 1); |
| } |
| } |
| else if((20 <= pRxData[0]) && (pRxData[0] < 30)) |
| { |
| tempchar1 = pRxData[0] - 20; |
| if(tempchar1 == 6) // sechs = alle löschen |
| { |
| SetDefaultParameter(1, 0); |
| SetDefaultParameter(2, 0); |
| SetDefaultParameter(3, 0); |
| SetDefaultParameter(4, 0); |
| SetDefaultParameter(5, 0); |
| tempchar1 = 3; |
| } |
| else |
| { |
| if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| SetDefaultParameter(tempchar1, 0); |
| } |
| } |
| else |
| { |
| tempchar1 = pRxData[0]; |
| if(tempchar1 == 0xFF) |
| { |
| tempchar1 = GetActiveParamSet(); |
| } |
| if(tempchar1< 1) tempchar1 = 1; // limit to 1 |
| else if(tempchar1 > 5) tempchar1 = 5; // limit to 5 |
| // load requested parameter set |
| ParamSet_ReadFromEEProm(tempchar1); |
| } |
| LipoDetection(0); |
| } else tempchar1 = GetActiveParamSet(); |
| while(!UebertragungAbgeschlossen); |
| SendOutData('Q', FC_ADDRESS, 2, &tempchar1, sizeof(tempchar1), (unsigned char *) &EE_Parameter, sizeof(EE_Parameter) - 1); |
| Debug("Lese Setting %d", tempchar1); |
| break; |
| case 's': // Parametersatz speichern |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5) && (pRxData[1] == EEPARAM_REVISION) && MotorenEin == 0) // check for setting to be in range |
| { |
| memcpy(&EE_Parameter, (uint8_t*)&pRxData[1], sizeof(EE_Parameter) - 1); |
| ParamSet_WriteToEEProm(pRxData[0]); |
| Umschlag180Nick = (long) EE_Parameter.WinkelUmschlagNick * 2500L; |
| Umschlag180Roll = (long) EE_Parameter.WinkelUmschlagRoll * 2500L; |
| tempchar1 = GetActiveParamSet(); |
| } |
| else |
| { |
| tempchar1 = 0; // mark in response an invlid setting |
| } |
| if(!MotorenEin) |
| { |
| while(!UebertragungAbgeschlossen); |
| SendOutData('S', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| Piep(tempchar1,110); |
| LipoDetection(0); |
| } |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| break; |
| case 'f': // auf anderen Parametersatz umschalten |
| if(MotorenEin) break; |
| if((1 <= pRxData[0]) && (pRxData[0] <= 5)) ParamSet_ReadFromEEProm(pRxData[0]); |
| tempchar1 = GetActiveParamSet(); |
| while(!UebertragungAbgeschlossen); |
| SendOutData('F', FC_ADDRESS, 1, &tempchar1, sizeof(tempchar1)); |
| if(!MotorenEin) |
| { |
| Piep(tempchar1,110); |
| LipoDetection(0); |
| } |
| LIBFC_ReceiverInit(EE_Parameter.Receiver); |
| break; |
| case 'y':// serial Potis |
| for(tempchar1 = 0; tempchar1 < 12; tempchar1++) PPM_in[SERIAL_POTI_START + tempchar1] = (signed char) pRxData[tempchar1]; |
| SerialChannelDataOkay = 30; |
| break; |
| case 'u': // request BL parameter |
| Debug("Reading BL %d", pRxData[0]); |
| // try to read BL configuration |
| tempchar2 = I2C_ReadBLConfig(pRxData[0]); |
| if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| else tempchar1 = 0; |
| while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| SendOutData('U', FC_ADDRESS, 4, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2), &pRxData[0], 1, &BLConfig, sizeof(BLConfig_t)); |
| break; |
| case 'w': // write BL parameter |
| Debug("Writing BL %d", pRxData[0]); |
| if(RxDataLen >= 1+sizeof(BLConfig_t)) |
| { |
| memcpy(&BLConfig, (uint8_t*)(&pRxData[1]), sizeof(BLConfig_t)); |
| tempchar2 = I2C_WriteBLConfig(pRxData[0]); |
| if(tempchar2 == BLCONFIG_SUCCESS) tempchar1 = 1; |
| else tempchar1 = 0; // indicate error |
| while(!UebertragungAbgeschlossen); // wait for previous frame to be sent |
| SendOutData('W', FC_ADDRESS,2, &tempchar1, sizeof(tempchar1), &tempchar2, sizeof(tempchar2)); |
| } |
| break; |
| case 'j': |
| if(MotorenEin) break; |
| tempchar1 = LIBFC_GetCPUType(); |
| if((tempchar1 == CPU_ATMEGA644P) || (tempchar1 == CPU_ATMEGA1284P)) |
| { |
| uint16_t ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 38400L) - 1); |
| cli(); |
| // UART0 & UART1 disable RX and TX-Interrupt |
| UCSR0B &= ~((1 << RXCIE0)|(1 << TXCIE0)); |
| UCSR1B &= ~((1 << RXCIE1)|(1 << TXCIE1)); |
| // UART0 & UART1 disable receiver and transmitter |
| UCSR0B &= ~((1 << TXEN0) | (1 << RXEN0)); |
| UCSR1B &= ~((1 << TXEN1) | (1 << RXEN1)); |
| // UART0 & UART1 flush receive buffer explicit |
| while ( UCSR1A & (1<<RXC1) ) UDR1; |
| while ( UCSR0A & (1<<RXC0) ) UDR0; |
| if(pRxData[0] == 1) ReceiverUpdateModeActive = 2; |
| else |
| { // Jeti or HoTT update |
| //#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(pRxData[0] == 100) ubrr = (uint16_t) ((uint32_t) F_CPU/ (8 * 19200L) - 1); // HoTT |
| //#endif |
| ReceiverUpdateModeActive = 1; |
| // UART0 & UART1 set baudrate |
| UBRR1H = (uint8_t)(ubrr>>8); |
| UBRR1L = (uint8_t)ubrr; |
| UBRR0H = UBRR1H; |
| UBRR0L = UBRR1L; |
| // UART1 no parity |
| UCSR1C &= ~(1 << UPM11); |
| UCSR1C &= ~(1 << UPM10); |
| // UART1 8-bit |
| UCSR1B &= ~(1 << UCSZ12); |
| UCSR1C |= (1 << UCSZ11); |
| UCSR1C |= (1 << UCSZ10); |
| } |
| // UART0 & UART1 1 stop bit |
| UCSR1C &= ~(1 << USBS1); |
| UCSR0C &= ~(1 << USBS0); |
| // UART1 clear 9th bit |
| UCSR1B &= ~(1<<TXB81); |
| // enable receiver and transmitter for UART0 and UART1 |
| UCSR0B |= (1 << TXEN0) | (1 << RXEN0); |
| UCSR1B |= (1 << TXEN1) | (1 << RXEN1); |
| // enable RX-Interrupt for UART0 and UART1 |
| UCSR0B |= (1 << RXCIE0); |
| UCSR1B |= (1 << RXCIE1); |
| // disable other Interrupts |
| TIMSK0 = 0; |
| TIMSK1 = 0; |
| TIMSK2 = 0; |
| sei(); |
| } |
| break; |
| } // case FC_ADDRESS: |
| default: // any Slave Address |
| switch(RxdBuffer[2]) |
| { |
| #ifdef REDUNDANT_FC_SLAVE |
| static unsigned int clear_I; |
| case '?':// Serielle Antwort eines BL-Reglers |
| tempchar1 = RxdBuffer[1] - ('a'+11); |
| if(tempchar1 >= MAX_MOTORS) break; |
| memcpy((unsigned char *)&RedundantMotor[tempchar1], (unsigned char *)pRxData, sizeof(RedundantBl_t)); |
| if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK && clear_I) clear_I--; |
| if(!(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_OK)) ROT_FLASH; |
| GRN_FLASH; |
| if(RedundantMotor[tempchar1].BitSate & BL_BIT_STATE_I2C_BAD) |
| { |
| ROT_ON; |
| if(clear_I == 0) |
| { |
| SummeNick = 0; |
| SummeRoll = 0; |
| Mess_Integral_Gier = 0; |
| } |
| clear_I = 500; |
| } |
| Motor[tempchar1].Current = RedundantMotor[tempchar1].Current; |
| Motor[tempchar1].MaxPWM = RedundantMotor[tempchar1].State; |
| Motor[tempchar1].Temperature = RedundantMotor[tempchar1].TemperatureInDeg; |
| Motor[tempchar1].State |= MOTOR_STATE_PRESENT_MASK; |
| //DebugOut.Analog[]++; |
| //DebugOut.Analog[] = RedundantMotor[tempchar1].BitSate; |
| //DebugOut.Analog[] = tempchar1; |
| SerialMotorRequest = 0; // allow to request the next answer |
| break; |
| #endif |
| // 't' comand placed here only for compatibility to BL |
| case 't':// Motortest |
| if(AnzahlEmpfangsBytes >= sizeof(MotorTest)) memcpy(&MotorTest[0], (unsigned char *)pRxData, sizeof(MotorTest)); |
| else memcpy(&MotorTest[0], (unsigned char *)pRxData, 4); |
| while(!UebertragungAbgeschlossen); |
| SendOutData('T', MeineSlaveAdresse, 0); |
| PC_MotortestActive = 250; |
| PcZugriff = 255; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| // 'K' comand placed here only for compatibility to old MK3MAG software, that does not send the right Slave Address |
| case 'K':// Kompasswert |
| memcpy((unsigned char *)&KompassValue , (unsigned char *)pRxData, sizeof(KompassValue)); |
| break; |
| case 'a':// Texte der Analogwerte |
| DebugTextAnforderung = pRxData[0]; |
| if (DebugTextAnforderung > 31) DebugTextAnforderung = 31; |
| PcZugriff = 255; |
| break; |
| case 'b': |
| if(AnzahlEmpfangsBytes < 20) // prevents that the old frame is valid |
| { |
| memcpy((unsigned char *)&ExternalControl, (unsigned char *)pRxData, sizeof(ExternalControl)); |
| ConfirmFrame = ExternalControl.Frame; |
| if(Parameter_ExternalControl < 128 || (!ExternalControl.Config & EC_VALID)) ExternalControl.Config = 0; |
| else ExternalControlTimeout = EXTRN_CTRL_TIMEOUT; |
| } |
| break; |
| case 'c': // Poll the 3D-Data |
| if(!Intervall3D) { if(pRxData[0]) Timer3D = SetDelay(pRxData[0] * 10);} |
| Intervall3D = pRxData[0] * 10; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| case 'd': // Poll the debug data |
| PcZugriff = 255; |
| DebugDataIntervall = (unsigned int)pRxData[0] * 10; |
| if(DebugDataIntervall > 0) DebugDataAnforderung = 1; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| break; |
| case 'h':// x-1 Displayzeilen |
| PcZugriff = 255; |
| if((pRxData[0] & 0x80) == 0x00) // old format |
| { |
| DisplayLine = 2; |
| Display_Interval = 0; |
| } |
| else // new format |
| { |
| RemoteKeys |= ~pRxData[0]; |
| Display_Interval = (unsigned int)pRxData[1] * 10; |
| DisplayLine = 4; |
| AboTimeOut = SetDelay(ABO_TIMEOUT); |
| } |
| DebugDisplayAnforderung = 1; |
| break; |
| case 'l':// x-1 Displayzeilen |
| PcZugriff = 255; |
| MenuePunkt = pRxData[0]; |
| DebugDisplayAnforderung1 = 1; |
| break; |
| case 'v': // Version-Anforderung und Ausbaustufe |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(RxDataLen > 0 && pRxData[0] == 2) GetVersionAnforderung = 2; |
| else |
| #endif |
| GetVersionAnforderung = 1; |
| break; |
| case 'g':// |
| GetExternalControl = 1; |
| break; |
| default: |
| //unsupported command received |
| break; |
| } |
| break; // default: |
| } |
| NeuerDatensatzEmpfangen = 0; |
| pRxData = 0; |
| RxDataLen = 0; |
| case 'h':// x-1 Displayzeilen |
| Decode64((unsigned char *) &tmp_char_arr2[0],sizeof(tmp_char_arr2),3,AnzahlEmpfangsBytes); |
| RemoteTasten |= tmp_char_arr2[0]; |
| DebugDisplayAnforderung = 1; |
| break; |
| case 't':// Motortest |
| Decode64((unsigned char *) &MotorTest[0],sizeof(MotorTest),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 |
| Piep(GetActiveParamSetNumber()); |
| break; |
| } |
| // DebugOut.AnzahlZyklen = Debug_Timer_Intervall; |
| NeuerDatensatzEmpfangen = 0; |
| } |
| //############################################################################ |
| //Routine für die Serielle Ausgabe |
| void uart_putchar (char c) |
| int uart_putchar (char c) |
| //############################################################################ |
| { |
| if (c == '\n') |
| uart_putchar('\r'); |
| //Warten solange bis Zeichen gesendet wurde |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| loop_until_bit_is_set(USR, UDRE); |
| //Ausgabe des Zeichens |
| UDR0 = c; |
| 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; |
| } |
| //############################################################################ |
| //Initialisierung der Seriellen Schnittstelle |
| //INstallation der Seriellen Schnittstelle |
| void UART_Init (void) |
| //############################################################################ |
| { |
| unsigned int ubrr; |
| //{1200,2400,4800,9600,14400,19200,28800,38400,57600}; |
| FromNcBaudrateIndex = GetParamByte(EE_BAUDRATE); |
| if(FromNcBaudrateIndex < MAX_BD_RATES && GetParamByte(EE_BAUDRATE_CRC) == FromNcBaudrateIndex + 1) // EEprom-Data Valid |
| { |
| Baudrate_100 = BAUDRATES[FromNcBaudrateIndex]; |
| } |
| else FromNcBaudrateIndex = 8; |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| ubrr = 5 + ((unsigned int) ((unsigned long) F_CPU/(80 * (unsigned long)Baudrate_100) - 10)); // (+5 / 10) = Runden |
| ubrr /= 10; |
| //Enable TXEN im Register UCR TX-Data Enable & RX Enable |
| UCSR0B = (1 << TXEN0) | (1 << RXEN0); |
| UCR=(1 << TXEN) | (1 << RXEN); |
| // UART Double Speed (U2X) |
| UCSR0A |= (1 << U2X0); |
| USR |= (1<<U2X); |
| // RX-Interrupt Freigabe |
| UCSR0B |= (1 << RXCIE0); |
| UCSRB |= (1<<RXCIE); |
| // TX-Interrupt Freigabe |
| UCSR0B |= (1 << TXCIE0); |
| // USART0 Baud Rate Register |
| // set clock divider |
| UBRR0H = (uint8_t)(ubrr >> 8); |
| UBRR0L = (uint8_t)ubrr; |
| UCSRB |= (1<<TXCIE); |
| Debug_Timer = SetDelay(DebugDataIntervall); |
| Kompass_Timer = SetDelay(220); |
| VersionInfo.SWMajor = VERSION_MAJOR; |
| VersionInfo.SWMinor = VERSION_MINOR; |
| VersionInfo.SWPatch = VERSION_PATCH; |
| VersionInfo.ProtoMajor = VERSION_SERIAL_MAJOR; |
| VersionInfo.BL_Firmware = 255; |
| VersionInfo.HWMajor = PlatinenVersion; |
| VersionInfo.LabelTextCRC = CalculateDebugLableCrc(); |
| pRxData = 0; |
| RxDataLen = 0; |
| //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) |
| void DatenUebertragung(void) |
| { |
| if(!UebertragungAbgeschlossen) return; |
| static char dis_zeile = 0; |
| if(!UebertragungAbgeschlossen) return; |
| if(CheckDelay(AboTimeOut)) // PC disconnected |
| { |
| Display_Interval = 0; |
| DebugDataIntervall = 0; |
| Intervall3D = 0; |
| } |
| 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(((Display_Interval>0 && CheckDelay(Display_Timer)) || DebugDisplayAnforderung) && UebertragungAbgeschlossen) |
| { |
| if(DisplayLine > 3)// new format |
| { |
| Menu(); |
| SendOutData('H', FC_ADDRESS, 1, (uint8_t *)DisplayBuff, 80); |
| } |
| else // old format |
| { |
| LCD_printfxy(0,0,"!!! INCOMPATIBLE !!!"); |
| SendOutData('H', FC_ADDRESS, 2, &DisplayLine, sizeof(DisplayLine), (uint8_t *)DisplayBuff, 20); |
| if(DisplayLine++ > 3) DisplayLine = 0; |
| } |
| Display_Timer = SetDelay(Display_Interval); |
| DebugDisplayAnforderung = 0; |
| } |
| if(DebugDisplayAnforderung1 && UebertragungAbgeschlossen) |
| { |
| Menu(); |
| SendOutData('L', FC_ADDRESS, 3, &MenuePunkt, sizeof(MenuePunkt), &MaxMenue, sizeof(MaxMenue), DisplayBuff, sizeof(DisplayBuff)); |
| DebugDisplayAnforderung1 = 0; |
| } |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
| if(GetVersionAnforderung == 2) // poll version of NC |
| { |
| struct str_VersionInfo nc; |
| nc.SWMajor = NC_Version.Major; |
| nc.SWMinor = NC_Version.Minor; |
| nc.SWPatch = NC_Version.Patch; |
| nc.HWMajor = NC_Version.Hardware; |
| nc.HardwareError[0] = 0xff; |
| nc.HardwareError[1] = 0xff; |
| nc.ProtoMajor = VersionInfo.ProtoMajor; |
| nc.BL_Firmware = VersionInfo.BL_Firmware; |
| nc.Flags = VersionInfo.Flags; |
| //nc.reserved1 = 0; |
| SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &nc, sizeof(nc)); |
| } |
| else |
| #endif |
| { |
| SendOutData('V', FC_ADDRESS, 1, (unsigned char *) &VersionInfo, sizeof(VersionInfo)); |
| } |
| GetVersionAnforderung = 0; |
| Debug_OK("Version gesendet"); |
| } |
| if(GetExternalControl && UebertragungAbgeschlossen) // Bei Get werden die vom PC einstellbaren Werte vom PC zurückgelesen |
| { |
| SendOutData('G',MeineSlaveAdresse, 1, (unsigned char *) &ExternalControl, sizeof(ExternalControl)); |
| GetExternalControl = 0; |
| } |
| if(((DebugDataIntervall>0 && CheckDelay(Debug_Timer)) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| if((CheckDelay(Debug_Timer) || DebugDataAnforderung) && UebertragungAbgeschlossen) |
| { |
| CopyDebugValues(); |
| SendOutData('D', FC_ADDRESS, 1, (unsigned char *) &DebugOut,sizeof(DebugOut)); |
| SendOutData('D',MeineSlaveAdresse,(unsigned char *) &DebugOut,sizeof(DebugOut)); |
| DebugDataAnforderung = 0; |
| if(DebugDataIntervall>0) Debug_Timer = SetDelay(DebugDataIntervall); |
| } |
| if(Intervall3D > 0 && CheckDelay(Timer3D) && UebertragungAbgeschlossen) |
| { |
| Data3D.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| Data3D.Winkel[2] = (int) ((10 * ErsatzKompass) / GIER_GRAD_FAKTOR); |
| Data3D.Centroid[0] = SummeNick >> 9; |
| Data3D.Centroid[1] = SummeRoll >> 9; |
| Data3D.Centroid[2] = Mess_Integral_Gier >> 9; |
| Data3D.AccZ = Aktuell_az; |
| SendOutData('C', FC_ADDRESS, 1, (unsigned char *) &Data3D,sizeof(Data3D)); |
| Timer3D = SetDelay(Intervall3D); |
| } |
| if(DebugTextAnforderung != 255) // Texte für die Analogdaten |
| { |
| unsigned char label[16]; // local sram buffer |
| memcpy_P(label, ANALOG_TEXT[DebugTextAnforderung], 16); // read lable from flash to sra |
| SendOutData('A', FC_ADDRESS, 2, (unsigned char *)&DebugTextAnforderung, sizeof(DebugTextAnforderung),label, 16); |
| DebugTextAnforderung = 255; |
| } |
| if(ConfirmFrame && UebertragungAbgeschlossen) // Datensatz bestätigen |
| { |
| SendOutData('B', FC_ADDRESS, 1, (uint8_t*)&ConfirmFrame, sizeof(ConfirmFrame)); |
| ConfirmFrame = 0; |
| } |
| if(GetPPMChannelAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('P', FC_ADDRESS, 1, (unsigned char *) &PPM_in, sizeof(PPM_in)); |
| GetPPMChannelAnforderung = 0; |
| } |
| #ifndef REDUNDANT_FC_SLAVE |
| Debug_Timer = SetDelay(MIN_DEBUG_INTERVALL); |
| } |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| if(!NaviDataOkay) // no external compass needed |
| { |
| WinkelOut.Winkel[0] = ToNaviCtrl.IntegralNick;//(int) (IntegralNick / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.Winkel[1] = ToNaviCtrl.IntegralRoll;//(int) (IntegralRoll / (EE_Parameter.GyroAccFaktor * 4)); // etwa in 0.1 Grad |
| WinkelOut.UserParameter[0] = Parameter_UserParam1; |
| WinkelOut.UserParameter[1] = Parameter_UserParam2; |
| SendOutData('k', MK3MAG_ADDRESS, 1, (unsigned char *) &WinkelOut,sizeof(WinkelOut)); |
| } |
| if(WinkelOut.CalcState > 4) WinkelOut.CalcState = 6; // wird dann in SPI auf Null gesetzt |
| if(JustMK3MagConnected) Kompass_Timer = SetDelay(99); |
| else Kompass_Timer = SetDelay(999); |
| } |
| /* |
| #define EC_VALID 0x01 // only valid if this is 1 |
| #define EC_GAS_ADD 0x02 // if 1 -> use the GAS Value not as MAX |
| #define EC_USE_SWITCH 0x20 // if 1 -> use the Switches for further control |
| #define EC_IGNORE_RC_STICK 0x40 // direct control (do nor add to RC-Stick) |
| #define EC_IGNORE_RC 0x80 // if 1 -> for Flying without RC-Control |
| // defines for ExternalControl.Switches -> control GPS Modes etc. if(Config & EC_USE_SWITCH) |
| #define EC2_PH 0x01 // GPS-Mode: PH |
| #define EC2_CH 0x02 // GPS-Mode: CH |
| #define EC2_CAREFREE 0x10 // |
| #define EC2_ALTITUDE 0x20 // |
| #define EC2_AUTOSTART 0x40 // |
| #define EC2_AUTOLAND 0x80 // |
| if((CheckDelay(Kompass_Timer)) && UebertragungAbgeschlossen) |
| { |
| static struct str_ExternControl Test; |
| Test.Nick = ChannelNick; |
| Test.Roll = ChannelRoll; |
| Test.Gier = ChannelYaw; |
| Test.Gas = ChannelGas; |
| Test.Frame++; |
| if(PPM_in[16] > 64) Test.Config = EC_GAS_ADD | EC_USE_SWITCH | EC_VALID; |
| else Test.Config = 0; |
| if(PPM_in[13] > 64) Test.Config |= EC_IGNORE_RC | EC_IGNORE_RC_STICK; |
| Test.Switches = 0; |
| if(PPM_in[5] > 64) Test.Switches |= EC2_ALTITUDE; |
| if(PPM_in[6] > 64) Test.Switches |= EC2_CH; |
| else if(PPM_in[6] > -64) Test.Switches |= EC2_PH; |
| if(PPM_in[8] > 64) Test.Switches |= EC2_CAREFREE; |
| if(PPM_in[10] > 64) Test.Switches |= EC2_AUTOSTART; |
| if(PPM_in[10] < -64) Test.Switches |= EC2_AUTOLAND; |
| SendOutData('b', FC_ADDRESS, 1, (unsigned char *) &Test,sizeof(Test)); |
| Kompass_Timer = SetDelay(50); |
| } |
| */ |
| #endif |
| #ifdef REDUNDANT_FC_SLAVE |
| //if(UebertragungAbgeschlossen || MotorenEin) |
| if(UebertragungAbgeschlossen && (CheckDelay(Kompass_Timer))) |
| { |
| static unsigned char who; |
| unsigned char SendRedundantMotor[MAX_MOTORS], i; |
| cli(); |
| if(!SerialMotorRequest) |
| { |
| who = (who+1) % RequiredMotors; |
| SendRedundantMotor[0] = who+1; |
| SerialMotorRequest = 5; // nur in jedem 5. Zykus abfragen, weil die Antwort zu lang ist -> oder sobald der Regler geantwortet hat. |
| } |
| else |
| if(DebugDisplayAnforderung && UebertragungAbgeschlossen) |
| { |
| SerialMotorRequest--; |
| SendRedundantMotor[0] = 0; // keinen Regler abfragen |
| Menu(); |
| DebugDisplayAnforderung = 0; |
| if(++dis_zeile == 4) dis_zeile = 0; |
| SendOutData('0' + dis_zeile,0,&DisplayBuff[20 * dis_zeile],20); // DisplayZeile übertragen |
| } |
| sei(); |
| for(i=0; i<RequiredMotors; i++) |
| { |
| if(PC_MotortestActive) SendRedundantMotor[0] |= 0x80; |
| SendRedundantMotor[i+1] = Motor[i].SetPoint; |
| } |
| if(MotorenEin) Kompass_Timer = SetDelay(2); // fast if Motors are on |
| else Kompass_Timer = SetDelay(100); |
| UART_MUX_TO_BL; |
| SendOutData('!', FC_ADDRESS, 1, (unsigned char *) &SendRedundantMotor, RequiredMotors+1); |
| } |
| #endif |
| if(GetVersionAnforderung && UebertragungAbgeschlossen) |
| { |
| SendOutData('V',MeineSlaveAdresse,(unsigned char *) &VersionInfo,sizeof(VersionInfo)); |
| GetVersionAnforderung = 0; |
| } |
| #ifdef DEBUG // only include functions if DEBUG is defined |
| if(SendDebugOutput && UebertragungAbgeschlossen) |
| { |
| SendOutData('0', FC_ADDRESS, 1, (unsigned char *) &tDebug, sizeof(tDebug)); |
| SendDebugOutput = 0; |
| } |
| #endif |
| } |
| /trunk/uart.h |
|---|
| 1,155 → 1,93 |
| #ifndef _UART_H |
| #define _UART_H |
| #define _UART_H |
| #define printf_P(format, args...) _printf_P(&uart_putchar, format , ## args) |
| #define printf(format, args...) _printf_P(&uart_putchar, PSTR(format) , ## args) |
| #define MAX_SENDE_BUFF 150 |
| #define MAX_EMPFANGS_BUFF 150 |
| void BearbeiteRxDaten(void); |
| extern unsigned char DebugGetAnforderung; |
| extern unsigned volatile char ReceiverUpdateModeActive; |
| 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 volatile char PC_MotortestActive; |
| extern unsigned char MeineSlaveAdresse; |
| extern unsigned char PcZugriff; |
| extern unsigned char RemotePollDisplayLine; |
| extern unsigned volatile char RxdBuffer[]; |
| extern int Debug_Timer,Kompass_Timer; |
| extern int Debug_Timer; |
| extern void UART_Init (void); |
| extern void uart_putchar (char c); |
| //extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern int uart_putchar (char c); |
| extern void boot_program_page (uint32_t page, uint8_t *buf); |
| extern void DatenUebertragung(void); |
| extern void Uart1Init(void); |
| extern void BearbeiteRxDaten(void); |
| extern unsigned char MotorTest[16]; |
| extern unsigned char SwitchMultiplexerToUpdate; // the Uart-Multiplexer on the FC V3.0 |
| extern unsigned char SerialChannelDataOkay; // timeout |
| extern unsigned int Baudrate_100; |
| extern void DecodeNMEA(void); |
| extern unsigned char MotorTest[4]; |
| struct str_DebugOut |
| { |
| unsigned char Status[2]; |
| signed int Analog[32]; // Debugwerte |
| unsigned char Digital[13]; |
| unsigned int AnzahlZyklen; |
| unsigned int Zeit; |
| unsigned char Sekunden; |
| unsigned int Analog[16]; // Debugwerte |
| }; |
| extern struct str_DebugOut DebugOut; |
| struct str_WinkelOut |
| struct str_Debug |
| { |
| signed int Winkel[2]; |
| unsigned char UserParameter[2]; |
| unsigned char CalcState; |
| unsigned char Orientation; |
| }; |
| extern struct str_WinkelOut WinkelOut; |
| struct str_Data3D |
| { |
| signed int Winkel[3]; // nick, roll, compass in 0,1° |
| signed char Centroid[3]; |
| // signed char reserve[5]; |
| unsigned int AccZ; |
| signed char reserve[3]; |
| }; |
| extern struct str_Data3D Data3D; |
| /* |
| struct str_ExternControl |
| { |
| unsigned char Digital[2]; |
| unsigned char RemoteTasten; |
| signed char Nick; |
| signed char Roll; |
| signed char Gier; |
| unsigned char Gas; |
| signed char Hight; |
| unsigned char free; |
| unsigned char Frame; |
| unsigned char Config; |
| }; |
| extern struct str_ExternControl ExternControl; |
| */ |
| unsigned int Analog[4]; |
| }; |
| extern struct str_Debug DebugIn; |
| #define EC_VALID 0x01 // only valid if this is 1 |
| #define EC_GAS_ADD 0x02 // if 1 -> use the GAS Value not as MAX |
| #define EC_ONLY_IF_MOTOR_OFF 0x10 // use these Stick Positions only if the motors are not running -> Claibrate etc. |
| #define EC_USE_SWITCH 0x20 // if 1 -> use the Switches for further control |
| #define EC_IGNORE_RC_STICK 0x40 // direct control (do nor add to RC-Stick) |
| #define EC_IGNORE_RC_LOST 0x80 // if 1 -> for Flying without RC-Control |
| // defines for ExternalControl.Switches -> control GPS Modes etc. -> Attention: only if(Config & EC_USE_SWITCH) |
| #define EC2_PH 0x01 // GPS-Mode: PH |
| #define EC2_CH 0x02 // GPS-Mode: CH |
| #define EC2_CAREFREE 0x10 // |
| #define EC2_ALTITUDE 0x20 // |
| #define EC2_AUTOSTART 0x40 // |
| #define EC2_AUTOLAND 0x80 // |
| struct str_ExternControl |
| struct str_VersionInfo |
| { |
| signed char Nick; |
| signed char Roll; |
| signed char Gier; |
| signed char Gas; |
| unsigned char Frame; // will return a confirm frame with this value |
| unsigned char Config; |
| unsigned char Switches; |
| unsigned char Free1; // these two don't need capacity in the ASCII data string |
| unsigned char Free2; |
| }; |
| extern struct str_ExternControl ExternalControl; |
| extern unsigned char ExternalControlTimeout; |
| unsigned char Hauptversion; |
| unsigned char Nebenversion; |
| unsigned char PCKompatibel; |
| unsigned char Rserved[7]; |
| }; |
| extern struct str_VersionInfo VersionInfo; |
| // FC hardware errors |
| //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 |
| // bitmask for VersionInfo.HardwareError[0] |
| #define FC_ERROR0_GYRO_NICK 0x01 |
| #define FC_ERROR0_GYRO_ROLL 0x02 |
| #define FC_ERROR0_GYRO_YAW 0x04 |
| #define FC_ERROR0_ACC_NICK 0x08 |
| #define FC_ERROR0_ACC_ROLL 0x10 |
| #define FC_ERROR0_ACC_TOP 0x20 |
| #define FC_ERROR0_PRESSURE 0x40 |
| #define FC_ERROR0_CAREFREE 0x80 |
| // bitmask for VersionInfo.HardwareError[1] |
| #define FC_ERROR1_I2C 0x01 |
| #define FC_ERROR1_BL_MISSING 0x02 |
| #define FC_ERROR1_SPI_RX 0x04 |
| #define FC_ERROR1_PPM 0x08 |
| #define FC_ERROR1_MIXER 0x10 |
| #define FC_ERROR1_RC_VOLTAGE 0x20 |
| #define FC_ERROR1_ACC_NOT_CAL 0x40 |
| #define FC_ERROR1_RES3 0x80 |
| //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 |
| // for FlightCtrl |
| //VersionInfo.Flags |
| #define FC_VERSION_FLAG_NC_PRESENT 0x01 |
| // for NaviCtrl |
| #define NC_VERSION_FLAG_MK3MAG_PRESENT 0x01 |
| #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 |
| struct str_VersionInfo |
| { |
| unsigned char SWMajor; |
| unsigned char SWMinor; |
| unsigned char ProtoMajor; |
| unsigned char LabelTextCRC; |
| unsigned char SWPatch; |
| unsigned char HardwareError[2]; |
| unsigned char HWMajor; |
| unsigned char BL_Firmware; |
| unsigned char Flags; |
| }; |
| #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 |
| extern struct str_VersionInfo VersionInfo; |
| #define MAX_BD_RATES 11 |
| extern const unsigned int BAUDRATES[MAX_BD_RATES]; |
| //#define USART0_BAUD 9600 |
| //#define USART0_BAUD 14400 |
| //#define USART0_BAUD 28800 |
| //#define USART0_BAUD 38400 |
| #define USART0_BAUD 57600 |
| #endif //_UART_H |
| /trunk/version.txt |
|---|
| 1,5 → 1,5 |
| ------- |
| ------- |
| V0.53 27.04.2007 H.Buss |
| - erste öffentliche Version |
| 46,900 → 46,4 |
| - Kamera-Servo (an J7) |
| - Die Settings müssen überschrieben werden |
| V0.61 - V0.63 H.Buss 27.09.2007 |
| - Poti 4 und Kanal 8 werden im Menü angezeigt |
| - ein paar Kleinigkeiten bei den DefaultKonstanten2 bereinigt |
| - Analog.c: Aktuell_ax korrigiert |
| - auf 32 Debug-Kanäle erweitert |
| - Loopings sind jetzt möglich und einzeln im KopterTool freischaltbar |
| - leichte Anpassungen im Gier - Geschwindigkeit und Drift |
| - die Hardwareversion V1.1 wird erkannt und das Programm stellt sich auf die geänderte Gyroverstärkung und die geänderten Portpins ein |
| - die Software startet nach dem Einschalten schneller, weil der Luftdruckoffset schneller gefunden wird |
| - die PPM-Ausgänge liegen wieder an den Pins an |
| - Details an der Sensordatenverarbeitung -> es fliegt sich geringfügig anders |
| - der MK ist bei wenig Gas nicht mehr so giftig -> soll das Landen vereinfachen |
| - I2C-Bus läuft jetzt sicher nach einer Störung wieder an |
| - Sticksignale werden präziser ausgewertet |
| - Stick-Kanäle werden ans Kopter-Tool übertragen |
| - Es muss die Version V1.47 des Kopter-Tool verwendet werden |
| - Die Settings werden auf Default zurückgesetzt |
| - am Piepen kann man die Fehlerart unterscheiden |
| 1. einzelnes Piepen beim Einschalten und Kalibrieren |
| 2. langsames Intervall mindestens 1 Sek -> Empfangsausfall |
| 3. schnelleres Intervall mindestens 1 Sek -> Akku |
| 4. sehr schnelles Intervall mindestens 1 Sek -> Kommunikation zu den Reglern gestört |
| V0.64 H.Buss 30.09.2007 |
| - beim Gieren wurden die Achsen nicht hart genug geregelt |
| V0.65a H.Buss 15.10.2007 |
| - Integral im Mischer wieder integriert |
| - Feinabstimmung im ACC/Gyro Abgleich -> 1/32 & 100 |
| - ACC/Gyro Abgleich auch bei HH |
| V0.66a H.Buss 3.11.2007 |
| - Messwertverarbeitung aus dem Analog-Interrupt entfernt |
| - Analogmessung hängt jetzt am FC-Timing |
| - Looping-Stick-Hysterese eingebaut |
| - Looping-180°-Umschlag einstellbar |
| - Achsenkopplung: Gierbewegung verkoppelt Nick und Roll |
| - Lageregelung nach ACC-Sensor verbessert |
| - zusätzlicher I-Anteil in der Lageregelung verbessert die Neutrallage |
| - Gyrodriftkompensation überarbeitet |
| - Bug in der Gier-Stick-Berechnung behoben |
| - Gyro-Messung auf 1kHz beschleunigt |
| V0.67a H.Buss 16.11.2007 |
| - der Hauptregler-I-Anteil wirkt jetzt nur noch auf den Winkel (ausser im HH-Mode) |
| - Gyro-Acc-Abgleich jetzt wieder in jedem Zyklus |
| - Feinabstimmung |
| - Beim HH-Modus gab es noch Bugs |
| V0.67e H.Buss 29.11.2007 |
| - Parameter: Dynamic Stability und Driftfaktor eingeführt |
| - Die Namen der Analogwerte werden jetzt zum Koptertool übertragen |
| - Kompatibilität zum Koptertool erhöht |
| V0.67f H.Buss 04.12.2007 |
| - Das Integral des Hauptreglers wird jetzt linear entladen und nicht mehr proportional |
| - Schub für Gier wird jetzt auf den Gaswert begrenzt, dadurch steigt der MK nicht mehr beim Gieren. Gier ist allerdings nicht mehr so agressiv |
| - Die ACC-Nullwerte können jetzt dauerhaft im EEPROM gespeichert werden (Stick:Vollgas und Gier rechts) |
| V0.68a I.Busker 28.12.2007 |
| - SPI.c & SPI.h ins Projekt aufgenommen |
| SPI-Kommuikation kann in SPI.h aktiviert/deaktivert werden |
| V0.68c H.Buss 05.01.2008 |
| - Stickauswertung verbessert -> träger und präziser |
| - Alle Settings angepasst |
| V0.69e H.Buss 05.05.2008 |
| - kleinere Bugs beseitigt |
| - Schneller Sinkflug jetzt möglich |
| - Min- und Maxgas in den Settings geändert |
| - Lagewinkel wird jetzt in 0,1 Grad an Kompass und Navi gesendet |
| - Kalibrierung für MK3Mag -> Nick unten beim Kalibrieren |
| - Kompassroutine um den Ersatzkompass (Gyro unterstützt Kompasswert) erweitert |
| V0.69h H.Buss 21.05.2008 |
| - STICK_GAIN = 4 eingeführt. Das erhöht die Auflösung der Sollwerte. Stick_P und Stick_I müssen nun um Faktor 4 erhöht werden |
| - SenderOkay auch an das Naviboard übertragen |
| - Bessere Parameter bei Senderausfall |
| V0.69j H.Buss 30.05.2008 |
| - Höhere Präzision der Achsenkopplung |
| V0.69k H.Buss 31.05.2008 |
| - Bug in SPI.C behoben |
| - in 0.69h war ein Bug, der zu ungewollten Loopings führen konnte |
| V0.69L H.Buss 14.06.2008 |
| - feinere Cam-Servo-Auflösung |
| V0.70a H.Buss 01.07.2008 |
| - Unterstützung der V1.3-Hardware mit automatischem Hardware-Gyro-Abgleich |
| V0.70b H.Buss 14.07.2008 |
| - flexible Einstellungsmöglichkeit von J16 und J17 (Transistorausgänge) |
| - eigene Parameter für GPS-Naviboard |
| - eigener Parameter für ExternalControl (war vorher UserParameter1 bzw. 8) |
| - neue Parameter im EEPROM-Datensatz: J16Bitmask, J16Timing, ExternalControl, Navi... |
| - MikroKopterFlags eingeführt, damit das Navi den Status des MKs kennt |
| - KopterTool-Kompatibilität auf 8 erhöht |
| V0.70c H.Buss 30.07.2008 |
| - Parameter der Datenfusion leicht modifiziert |
| - EEPROM-Parameter für Looping-Umschlag angepasst (von 100 auf 85) |
| - MaxStick wird auf 100 begrenzt |
| V0.70d H.Buss 02.08.2008 |
| - Transistorausgänge: das oberste Bit der Blinkmaske (im KopterTool linkes Bit) gibt nun den Zustand des Ausgangs im Schalterbetrieb an |
| 0.71b: H.Buss 19.10.2008 |
| Kommunikation zum Navi erweitert: |
| - Beeptime jetzt 32Bit |
| - Datenfusion und Driftkopensation wird durch NaviBoard unterstützt |
| 0.71c: H.Buss 20.10.2008 |
| - LoopConfig heisst jetzt BitConfig |
| - 3-Fach-Schalter für Höhensteuerung möglich -> kann man mit GPS-Schalter zusammenlegen |
| - bei den Settings wurde Setting[0] mit abgespeichert, welches es nicht gab. |
| - in Zukunft werden bei neuen EEPROM-Settings die Kanäle von Setting 1 übernommen |
| - Variablen NaviWindCorrection, NaviSpeedCompensation, NaviOperatingRadius eingeführt |
| 0.71f: H.Buss 15.11.2008 |
| - Ausschalten der Höhenregelung per Schalter um 0,3 sek verzögert |
| - bei der seriellen Übertragung hat die FC jetzt als SlaveAdresse die 1 |
| - VersionInfo.NaviKompatibel eingeführt |
| - wenn manuell gegiert wird, wird der GyroKompass-Wert auf den Kompasswert gesetzt |
| - Luftdruckwert wird an das Navi übertragen |
| - Der Baro-Offset wird jetzt nachgeführt, um den Messbereich zu erweitern. Geht nur bei Höhenregler mit Schalter |
| - Debugdaten können jetzt mit 'f' gepollt werden |
| 0.71g: Gregor 09.12.2008 |
| - Kommunikation überarbeitet |
| Infos hier: http://www.mikrokopter.de/ucwiki/en/SerialCommands |
| 0.71h: H.Buss 15.12.2008 |
| - Freigegebene Version |
| - NaviAngleLimitation als Parameter zum Navi implementiert |
| - Antwort auf CMD: 't' entfernt |
| 0.72d: H.Buss 22.01.2009 |
| - OCTO als Compilerschalter |
| - Unterstützung der FC 2.0 (ME) |
| - GYRO_D eingeführt |
| - Achsenkopplung jetzt auch auf Nick/Roll-Bewegung |
| 0.72e: H.Buss 27.01.2009 |
| - die 0.72d hatte kein Integral im Gier |
| - Parameter eingeführt: |
| EE_Parameter.NaviGpsPLimit |
| EE_Parameter.NaviGpsILimit |
| EE_Parameter.NaviGpsDLimit |
| EE_Parameter.NaviPH_LoginTime |
| EE_Parameter.AchsKopplung2 |
| EE_Parameter.CouplingYawCorrection |
| 0.72f: H.Buss 28.01.2009 |
| - Bug im Ersatzkompass entfernt |
| 0.72h: H.Buss 05.02.2009 |
| - Algorithmen beschleunigt -> Floats durch Fixkomma ersetzt |
| - Achsentkopplung weiter verbessert |
| - Nick- und Roll im Octo-Mischer auf jeweils vier Motoren aufgeteilt |
| 0.72i: H.Buss 07.02.2009 |
| - Abtastrate von 1kHz auf 2kHz erhöht |
| 0.72j: H.Buss 09.02.2009 |
| - neue Implementierung der Servoausgänge |
| 0.72k: H.Buss 10.02.2009 |
| - Abtastrate auf 5kHz erhöht |
| 0.72L: H.Buss 13.02.2009 |
| - Signalfilterung überarbeitet |
| - OCTO2 implementiert |
| 0.72M: H.Buss 13.02.2009 |
| - Code Cleanup |
| 0.72o: H.Buss 24.02.2009 |
| - Abtastrate auf 2kHz |
| - HW-Version an Navi |
| - neuer Datensatz 'c' -> Lagedaten für 3D-Grafik |
| - Auswerteroutine für Spectrum-Satteliten implementiert |
| - Kanalsettings werden beim Parameterreset nicht mehr gelöscht |
| - die Driftkompensation wird jetzt feiner aufgelöst --> EE_Parameter.Driftkomp muss mal 8 genommen werden |
| - die Integrale und ACC-Werte werden jetzt im Scope in ca. 0,1° angezeigt (wie beim NaviBrd) |
| 0.72p: H.Buss 01.03.2009 |
| - Octo3 erstellt |
| - Analogwerte umbenannt |
| 0.73a-d: H.Buss 05.04.2009 |
| - MixerTabelle implementiert |
| - I2C-Bus auf bis zu 12 Motoren erweitert |
| - die Busfehler der BL-Regler werden im Menü angezeigt |
| - Revision der MixerTabelle eingeführt |
| - MixerTabelle wird bei Parameterreset neu initialisiert |
| - Motortest auf [12] erweitert |
| - Motorschalter nicht mehr 3-Stufig |
| 0.74a |
| - Datenfusion im Flug auch, wenn ACC-Z < 512 |
| - Wert für die Luftdruck-Messbereichserweiterung abgefangen |
| 0.74d |
| - Die Driftkompensation ist jetzt dreistufig -> 0,5% pro sekunde zusätzlich eingeführts |
| 0.75a G.Stobrawa 22.5.2009 |
| - Extern Control also received from NC via SPI |
| 0.75b H.Buss 27.05.2009 |
| - Spektrum-Singale schalten den PPM-Eingang aus |
| - max. 2 Sekunden nach dem Start auf die BL-Regler warten |
| - Automatische Zellenerkennung, wenn Spannungswarnung < 5,0V |
| - Bei automatischer Zellenerkennung piept es je nach Zellenzahl |
| - EE_DATENREVISION auf 76 erhöht |
| - Servo: |
| - Roll-Servo für FC ME implementiert |
| - Update-Cmd stoppt Servos |
| - Servos werden erst nach dem ersten Kalibrieren aktiviert |
| 0.75c G.Stobrawa 25.7.2009 |
| - Übertragung der Servo-Settings zur NC |
| - RSSI wird an NC gesendet, derzeit wird der Wert nicht gesetzt |
| - Bugfix Messbereichsumschaltung des Luftdrucksensors springt |
| - Auflösung des Luftdrucks nun bis auf 1 cm (5mal feiner) zur genaueren Berechnung des D-Anteils |
| - Unterstützung von Warnings-Bitmasks für die J16, J17-Outputs bei Unterspannung |
| - Unterspannung für einzelne Zelle´n von 3.2V auf 3.3V angehoben (9.6V --> 9.9V für 3S) |
| 0.75d H.Buss 13.8.2009 |
| - RC-Routine: Empfangsausfall soll sicherer erkannt werden |
| - Zellenerkennung nun auch beim Speichern der Settings |
| - Warnungs-Blinkmaske auch bei Empfangsausfall |
| 0.75e H.Buss 18.8.2009 |
| - LED-Blinken kann an die Motoren gekoppelt werden |
| - Feinabstimmung des Höhenreglers |
| 0.75f H.Buss 27.8.2009 |
| - D-Anteil des Höhenreglers jetzt mit Quadratischer Komponente |
| - Lagewinkel wirkt jetzt mit 1/Cos(x) mit in den Höhenregler |
| - leichte Modifikation der RC-Empfangroutine |
| 0.75g H.Buss 31.08.2009 |
| - die Akkuspannung geht jetzt antiproportional ins Gas ein |
| 0.75h H.Buss 3.09.2009 |
| - im Höhenregler werden jetzt die Stellwerte begrenzt --> max +- 16% vom geschätzten Schwebegas |
| 0.75i H.Buss 7.09.2009 |
| - GpsZ vom Navi zur FC für den Höhenregler |
| - "hoovergas-Variation" als Parameter |
| - Kompatibilität zu NC und PC erhöht |
| 0.75j H.Buss 17.09.2009 |
| - Laufzeitzähler eingebaut |
| 0.75k H.Buss 22.09.2009 |
| - zweite Variante (Gregor) der Höhenregelung implementiert |
| - umschaltbare RC-Routine |
| 0.75L H.Buss 23.09.2009 |
| - SollHoehe und Gas geht nun auch an die NC |
| 0.75M H.Buss 29.09.2009 |
| - Spektrum-Timing wird nun überwacht |
| - die FC kann nun stand-Alone als Kamera-Stabilizer eingesetzt werden, weil die Servos aktiviert werden, wenn I2C fehlt |
| 0.75N H.Buss 29.09.2009 |
| - Hoover-Stickpunkt wird bei aktivem Höhenregler nicht nachgeführt |
| - Hoover-Stickpunkt kann per Parameter fest eingestellt werden |
| - Baro-Messbereichserweiterung auch bei aktiviertem Höhenregler |
| - Gyro_Gier_P und Gyro_Gier_I eingeführt |
| - I2C_fehler-Zähler jetzt in den Analogdaten |
| 0.75o H.Buss 01.10.2009 |
| - der Höhenregler wird jetzt nur alle 10ms bearbeitet |
| - Baro-Messbereichserweiterung auch bei Poti als Sollwert |
| 0.76d H.Buss 10.10.2009 |
| - bei aktiver Messbereichserweiterung wird die aktuelle Höhe übernommen |
| 0.76e H.Buss 27.10.2009 |
| - es werden beim Start einmal alle BL-Regler angesprochen, damit BL-Regler#8 auch einen Selbsttest macht |
| - S3D-ACT-Summensignal als Compilerschalter |
| 0.76f H.Buss 05.11.2009 |
| - untere Spannungsgrenze der Unterspannungswarnung (9,3V) entfernt |
| 0.76g H.Buss 10.11.2009 |
| - Casting-Fehler in der Gas-Berechnung |
| 0.77a H.Buss 11.11.2009 |
| - Erweiterung auf 12 Kanäle |
| - Bei Koptertool-Kanalabfrage kein Empfangsausfall-Piepsen |
| - serielle Kanalerweiterung eingebaut -> PPM_in auf 25 erweitert |
| - Servos3-5 einstellbar |
| - neues Kommando "f" -> schaltet auf anderen Parametersatz um |
| 0.77b H.Buss 09.12.2009 |
| - JetiBox: Menü wird übertragen |
| - neu: FCFlags |= FCFLAG_I2CERR; |
| - LED-Warn-Blinken nun mit festem Timing und abschaltbar |
| 0.77c H.Buss 07.01.2010 |
| - zwei weitere Spektrum-Varianten implementiert |
| 0.77d H.Buss 25.01.2010 |
| - Strom-Messung eingebaut |
| 0.78a H.Buss 03.02.2010 |
| - Bugfix: Settingsumschaltung im Flug |
| 0.78b H.Buss |
| - veröffentlichte Version |
| 0.78c H.Buss + G.Stobrawa 22.2.2010 |
| - Bewegungsbegrenzung an Servo 3 to 5 der FC 2.0 |
| - Theoretischer Variablenüberlauf bei Vario-Höhenregler |
| - Anzeige des "SPI RX communication error" wenn GPS Option nicht aktiv |
| - LED-Schwellwerte fürs Blinken waren unterschiedlich |
| 0.78c H.Buss + G.Stobrawa 04.3.2010 |
| - Code cosmetics |
| 0.78f H.Buss + I.Busker 23.3.2010 |
| - Unterstützung für Jeti-Expander |
| - Begrenzung des Vario-Höhenreglers auf ein 10m-Fenster um Überläufe zu verhindern |
| - Einführung eines Vario-Zeichens (+/-/ ) auf der Jetibox |
| - BL-Timeout beim Start erhöht |
| 0.80a-d H. Buss + G.Stobrawa 20.5.2010 - 22.7.2010 |
| - Motoren Starten nicht ohne Kalibrierung |
| - Unterstützung der BL2.0-Regler |
| - statt 8 nun 10 Bit Auflösung der Lageregekung |
| - Unterstützung der BL2.0-Regler Konfiguration via MK-Tool |
| - Parametersätze werden per I2C an die BL-Regler durchgereicht |
| - "Care-Free" implementiert |
| - Freie Belegung der "Vorne"-Richtung |
| - nur wenn Motoren laufen: Beepen, wenn Carefree ohne Navi oder ohne gültigen MK3Mag-Wert |
| - nur wenn Motoren laufen: Beepen wenn NC plötzlich ausfällt |
| - #define RECEIVER_SPEKTRUM_EXP eingeführt |
| - #define SWITCH_LEARNS_CAREFREE eingeführt |
| - Schwerpunktanzeige in den 3D-Daten |
| - Checksummen gesicherte Datenablage im EEProm |
| - Fehlerdiagnose implementiert (Wiki: ErrorCodes) |
| - ErrorCode aufs Jeti-Display |
| - JetiMenü: bis acht Temperaturen der BL-Regler |
| - GPSInfo.Speed im Jeti-Display |
| - Compass-Richtung nun im Jeti-menü |
| - diverse Änderungen im Höhenregler |
| - P wirkt schwächer |
| - D wirkt stärker |
| - Anpassung der Höhenregelung auf Level des Hoovergases |
| - AccZ schneller nachführen |
| Parameter modifiziert: |
| - EEPROM-Kompatibilität auf 84 -> Parameter werden resettet |
| - EE_Parameter.Hoehe_ACC_Wirkung = 0; // war 30 |
| - EE_Parameter.Hoehe_HoverBand = 8; // war 5 |
| - Notgas = 45 |
| - NotgasZeit = 90 |
| - Beginnersetting: EE_Parameter.DynamicStability = 70; |
| - Neu: GyroStability = 6 |
| - GPS-Login-Time auf 2 reduziert |
| 0.80e H.Buss 02.08.2010 |
| - MK3Mag ohne NC ging nicht |
| 0.80f H.Buss 04.08.2010 |
| - Beim Höhenregler "Deckel" wird das Gas wieder wie in der alten Version behandelt und der D-Anteil auf das alte Verhalten (um Faktor 8) reduziert |
| 0.80g H.Buss 11.08.2010 |
| - erweitetern Messbereich für Luftdruck bei der FC2.1 aktiviert |
| 0.80h H.Buss 30.08.2010 |
| - bei I2C-Fehlern wurden die Counter zurück gesetzt und für einige ms die Interrupts angehalten - das ist jetzt behoben |
| - Nur I2C-Daten senden, wenn das alte Paket komplett raus ist |
| 0.82a H.Buss 08.11.2010 |
| - MotorSafetySwitch - Verriegelt das Ein/Ausschalten |
| - ServoManualControlSpeed - Verlangsamt das Cam-Servo |
| - CamOrientation - für verdrehte Kamera-Servos |
| - Position der Status-Bits verändert |
| - "Zucken" der Servos bei kurzen Empfangsausfällen behoben |
| - jeti update command 'j' added |
| - Poti-Auswertung nach ParameterZuordnung() verschoben -> FC-Code schneller |
| - Waypont-Events z.B. zum Triggern der Kamera |
| - Gyro-Sytbility: Werte bis 16 möglich |
| 0.82b H.Buss 08.12.2010 |
| - Unterstützung von 3,3V-Referenzspannung (nur ATMEGA128) |
| 0.84a H.Buss 21.03.2011 (Release: 30.03.2011) |
| - nur starten, wenn NC_ErrorCode = 0 |
| - Beeptime von NC auch beim Kalibrieren durchlassen |
| - Varible "JetiBeep" eingeführt |
| - Kompass-Winkelvorgabe von NaviControl -> POI |
| - Piepen beim Umschalten von CareFree |
| - Compass-Routinen überarbeitet |
| - Dafaultvalues Servo-Min/MAx an MKDS18 angepasst |
| - Defaultreceiver ist RECEIVER_JETI |
| - GPS-Operation-Radius per default auf 245m bzw. 100% |
| - Höhenvorgabe im Vario-Mode durch Waypoints |
| - bei laufenden Motoren keine neuen Settings annehmen |
| - immer einmal Carefree Beepen nach dem Kalibrieren |
| - Kanaloffset für Potis von 110 auf 127 erhöht, damit es gleich ist mit allen anderen Kanälen |
| - POI-Richtung (Soll-Himmelsrichtung) bezieht sich auf den Kamera-Winkel |
| 0.86a H.Buss 13.09.2011 |
| - Variable "JetiBeep" wird gelöscht, wenn an den Empfänger gesendet wurde |
| - wenn GPS deaktiviert ist, keinen Fehler bringen, wenn GPS fehlt. Auch dann nicht piepsen |
| - GPS-Sollwertverschiebung |
| - Empfangs-Piepen unterdrücken -> einstellbar |
| - MotorSmooth einstellbar |
| - Höhenregler: keine 'harte' IstWert-Übernahme bei Bewegen des Sticks in die Hoover-Position |
| - Coming Home mit Höhenvorgabe |
| - Coming Home als Failsafe |
| - Einführung des GPS-Characters (- / W H D P) |
| - Klartext bei den Jeti-Fehlermeldungen |
| - Jeti-Beep "3*kurz" bei NC-Errors |
| - Jeti-LCD-Aufruf nur noch alle 300ms, weil die Werte zu unruhig waren |
| - Mixer-Settings werden nicht gelöscht, wenn sich die Parameter-Revision ändert |
| - GPS-Angle limit von 100 auf 140 |
| - GPS-I-Limit von 75 auf 85 |
| - GAS-Offset von 120 auf 127 erhöht, damit es für alle Kanäle gleich ist |
| - EE_Parameter.Hoehe_StickNeutralPoint auf Werte zwischen 80 und 180 begrenzt |
| - PPM_Neutral eingeführt, um den Offset bei HoTT auszugleichen; |
| - LED_Update() nun nur noch alle 20ms, weil die schnellste Ausgabe (bei Potivorgabe) ohnehin nur 40ms sind |
| - Jeti & HoTT: Nur beim Fehler auch JetiBeep, wenn die Motoren laufen -> sonst nervt das bei der Fehlerbehebung (Compass-Kalibrieren usw.) |
| - Error-Text auch im virtuellen Display des Koptertools |
| - virtuelles LCD-Menü: |
| - "ExternControl" aus Platzgründen aus dem virtuellen LCD-Menü entfernt. |
| - keine BL-Temperaturen und I2C-Fehler anzeigen, wenn die BL-Regler nicht verwendet werden |
| - nach dem Gieren nicht den Ersatzkompass auf den Kompasswert stellen, die Umschaltung war zu hart |
| - ACC Correction eingeführt |
| - I2C Fehler kamen nicht bei der NC an, weil die zu kurz waren - jetzt meldet die NC die Fehler mind. 8 Sekunden |
| - Fehlermeldungen stehen jetzt mind. so lange an, bis sie an die Nc ge sendet wurden |
| - neue Fehlermeldungen: |
| "No NC communicat", // 9 |
| "GPS Fix lost ", // 21 |
| "Magnet Error ", // 22 |
| "Motor restart ", // 23 |
| "BL Limitation " // 24 |
| - LED: Schaltfläche "nur bei Motor start" bei beiden getrennt |
| - Ausbau der HoTT-Telemetrie |
| - Variable "KompassRichtung" entfernt |
| - ErsatzKompassInGrad sinvoll genutzt |
| - HoTT-Update per Uart-Durchschleifen |
| - AltitudeSetpointTrimming eingeführt |
| - Vario-Anzeige für HoTT |
| - Verhindern eines Überlaufs im Vario |
| - echter Varioton auch ohne Vario-Höhenregler |
| - Flugminuten laufen jetzt bei (FC_StatusFlags & FC_STATUS_FLY) los, weil sonst die Zeit zur NC verschieden war |
| - KompassFusion wird jetzt getrennt von der NC berechnet |
| - Sport-Setting entfernt und ein "Easy-Setting" eingeführt (leicht reduzierte Sticks); "Beginner" ist jetzt "Normal" |
| - MagnetError kann man in der Startphase ignorieren |
| - BL-Temperaturen, I2C-Fehler und BL-MaxPWM zum Loggen an NC |
| - Einzelströme nun auch bei HoTT angezeigt |
| 0.86b H.Buss 20.09.2011 |
| - Höhenbegrenzung bewirkt nur, dass im Vario-Mode der Sollwert nicht weiter nach oben geschoben werden kann |
| - grüne LED ging aus - gefixt |
| - K1-K8 wurden im LCD mit 0-7 bezeichnet |
| 0.86c H.Buss 22.09.2011 |
| - Neue Anzeige: Magnetfeld und Inklination bei HoTT und Jeti |
| - Neuer SPI-Block 'SPI_MISC' |
| - Kompass-Fusions-Dämpfung bei Neigung leicht verringert |
| - '.' im Vario-Höhenregler |
| 0.86d H.Buss 26.09.2011 |
| - Analog.c: Vario Überlauf anders verhinden |
| - Poti1-6 auch im HoTT-Display |
| 0.88 H.Buss 12.12.2011 - 26.03.2012 |
| - Failsafe-Kanal |
| - Failsafe: 5 Sekunden warten & Höhe ändern (macht die NC) |
| - Option: Failsafe-Sinkflug xx% Schwebegas |
| - Stopp der Motoren wenn bei Failsafe ein Motor blockiert |
| - von 30 auf 60 Sekunden Failsafe-Zeit verlängert |
| - 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 sbus-protokoll implementiert (nur FC2.1) |
| - Schaltkanal auf Servo-Ausgang |
| - Filter auf den Ausgängen der Servos |
| - Option: Failsafe-Sinkflug xx% Schwebegas |
| - "Max Altitude" als Parameter auf der SD-Karte im Navi -> Beeinflusst "Parameter_MaximumAltitude" (das niedrigste gilt) und es gibt eine Fehlermeldung "ERR:Max Altitude" |
| - SPI-Protokoll: BL.Status eingefügt und Parameter.GlobalConfig & Parameter.ExtraConfig verschoben |
| - Senden der Out1 & Out2-Zustände an die NC, damit es in der OSD-Darstellung angezeigt werden kann |
| - Kompassrichtung neu merken, wenn CF geschaltet wird |
| - "I" aus dem Hott-Menü entfernt und durch ":" ersetzt, weil das nur auf der mx-20 gut aussah |
| - Höhenregler-Settings: GPS-Z von 64 auf 20 reduziert |
| 0.88M H.Buss 15.05.2012 |
| - HoTT V4 |
| - Kamera-Servo beim Kalibrieren weiter laufen lassen. |
| - Error 30: no GPS fix bei Start |
| - echter MotorSchalter |
| 0.88n H.Buss 06.07.2012 |
| - Bugfix: Der letzte angesteuerte Servo-Puls war zu kurz |
| 0.90 H.Buss 04.03.2013 |
| - Anzeige WP x/Y in der HoTT-Telemetrie |
| - Schalter und WP-Event gleichzeitig |
| - Photo-Auslösung als Entfernungsintervalle |
| - Jeti + |
| - Kamera-Neitung als Integral |
| - RC-Lost am Startpunkt macht kein Failsafe, wenn GAS auf Null für 1,5sek war |
| - Auswahl:Speak-All nun in der KopterTool-Config |
| 0.90e H.Buss 04.03.2013 |
| - Parameter_ServoRollComp jetzt auf Poti /Kompatibilität auf 93 erhöht) |
| 0.90f (26.04.2013) |
| - disable Yawing when Gas-Stick is to Zero |
| - calibration must be within 20° Tilt angle |
| - Hold I-Parts of the attitude control to zero when the MK is still on the ground |
| - ACC-Altitude sensor data fusion implemented to the altitude controller (HW-Update from FC2.1 to 2.2 needed) |
| - MK must be within 20° tilt angle when calibrating sensors |
| - Parameter Reset, if the HW-Version changes (FC2.1 to 2.2) |
| 0.90g (29.04.2013) |
| - No ACC-Z error if the MK is tilted after switching on |
| - ATMEGA644 (until FC2.0): Sensitive RC-Signal validation removed -> that was only nessecary for old 35MHz receivers |
| 0.90h (14.05.2013) |
| - Auto Start and landing for Waypoints |
| - back to old eeprom-compatiblity to remain compatible to other Tools |
| - HoTT-Bugfix: no speech while vario tone |
| - Bugfix: Wrong error speech in JetiEX ("Error calibration") |
| 0.90j (27.05.2013) |
| - Changes for better EEPROM-Safety |
| - variable ActiveParamSet instead of the direct EEPROM-Reading (faster) |
| - Checking the ACC-Z value in flight and report ACC-Z if out of range |
| - disable Altitude hold in case of ACC-Z error |
| 2.00a (after public Beta test 0.91) |
| - show SW-Version in Hot Display |
| - GPS-Parameter changed (P = 90->100; I = 90->90; D = 90->120; A = 40) |
| - Move NICK/Roll Sticks for switching on / off |
| - Move the Stick > 100 instead > 75 for switch on / off |
| - Failsafe active if ACC-Upgarde |
| - AltitudeMode, GPS_Mode & Carefree_Mode are now direct channels instead of Poti-Values (NaviGpsModeChannel,CareFreeChannel,HoeheChannel) |
| - NC-SPI communication from 25Hz to 41Hz |
| - MotorTemperature and GPS-Mode-Switch more often to NC |
| - Auto-Start/Landing |
| - JetiEX: Name set to 'MK' |
| - if(CareFree) Parameter_AchsKopplung1 += 30; removed |
| - StickNeutral setting per default 127 |
| - UART-Buffer increased from 175 to 220 Bytes |
| - show name of active parameter set in the HoTT/Jeti display |
| - fixed in 0.91L: if "ServoRelative" is used, it coud happen that the servo moves a wide range in the first second after the first calibration |
| - Servo3-5 Limit to 24-255 |
| - no. of channels increased from 12 to 16 |
| // 0 -> frei bzw. ACT rssi (or zero if unsigned) |
| // 1 - 16 -> 1-16 |
| // 17 - 28 -> 12 Serial channels |
| // 29 -> WP-Event kanal |
| // 30 Fix -> -127 |
| // 31 Fix -> 0 |
| // 32 Fix -> 128 |
| 2.00b |
| - default Camera-Position after calibration changed if Inverted |
| - some changes in ACC-Altitude hold to reduce climbing in fast foreward fly |
| - UserParameter1 > 100 disables camera nick control (for BL-Gimbals with self-alignments) |
| - Beep at motor off (1sek) |
| 2.00d |
| - Do not start if MK is moving |
| - Full Range of altitude measure expansion (3000m flight instead of 950m) |
| - compensation of the atmospheric altitude error |
| - Measure the exact influence of the barometric range extender |
| - Reduce Nick/Roll if Gas is Zero -> avoids MK to turn over during switch-off sequence |
| - Tell NC to wait at the Waypoint until Out1 Pattern is over |
| - virtual menu: single BL-Currents (FC2.1) |
| - per default active: NO_GPSFIX_NO_START and CFG_NO_RCOFF_BEEPING |
| - Servo-Nick-Refres reduced from 4 to 3 in default setting -> makes the camera servos faster |
| - No undervoltage Beeping if the FC is only supplied by MKUSB (the Voltage measurement is zero) |
| - Reset I2C-Error counter when calibrating the Sensors |
| - HOTT & Jeti bugfix: The temperatures were sometimes wrong |
| - HoTT: |
| - GPS coordiante now in Degree + Minutes.Decimalminutes (like in original Graupner-Receivers) |
| - added the MK Status in Transmitter Logfile -> General->Fuel |
| - added the MK Speach in Transmitter Logfile -> General->Alt3Sek |
| 2.02a |
| - code too big for MEGA644 -> only ATMEGA1284 supported |
| - Jeti:GPS-Koordinate |
| - Don't accept Reset-Command if Motor running |
| - 'Idle' Bit in Output-Mask |
| - Option: DisableServoNick |
| - Bugfix Maximum Altitude -> New: SpeakHoTT Errormessage = "MaximumAltitude" and VarioCharacter goes to '=' |
| - New Error code 32 "ERR:BL Selftest" |
| - prepared for current measurements up to 75A per ESC |
| - reduced speed of capacity-calculation() from 10ms to 50ms - that should be fast enough |
| - Timing correction for NC-Data (41Hz) |
| - Autolanding if undervoltage |
| - Compass offset angle |
| - 0.2V hysteresis in undervoltage warning |
| - Fixed: Bug in LED-Output |
| - Autolanding per default at 3,1V |
| 2.02b |
| - Bugfix: Data reading for Dodecas (12 motors) |
| 2.04a (12.03.2014 after public betatest 2.03) |
| - No support for FC 1.x |
| - Bugfix: set ChannelYaw to zero in case of RC lost |
| - Bugfix: Max 6 cells in lipo-detection instead of 7 |
| - Bugfix: Compass-Calibration: At the second comdass calibration, the Calibration started in step 2 and not in step 1 |
| - increase the allowed band for Auto-Middele-Point of the AltitudeStick to 70-175 |
| - Dodeca: reduced I2C Packet lenght to 8 |
| - Auto-ComingHome at Undervoltage |
| - Voltage measurement was 3% too high |
| - allowed band for ACC-Z increased to: 652 - 717 |
| - send 'K' command only if JustMK3MagConnected |
| - Redundant operation supported |
| - Loading Waypoints from SD-Card: |
| - menu by HoTT and Jeti added |
| - Show the name of the WP-List |
| - do not load points if no stafix |
| - Version for FC 2.0 with ATMEGA644 |
| Not Supported in FC 2.0: |
| - ACC-Upgrade for better ACC-Altitude control |
| - Hott |
| - Jeti-EX |
| - Auto-Start & Landing |
| - WP-List Name |
| 2.04b |
| - Bugfix: Poti Values were wrong after calibration |
| - Redundant Slave: LED-Binking: Green: UART Data & Red:I2C error |
| - CompassCorrected (True-Compass) in HoTT- and Jeti-Display |
| - "True Compass" in virtual menu |
| - Jeti: Indicator "R" for redundancy |
| 2.04c |
| - S.Bus extended to 16 Channels |
| 2.06a (09.04.2013 after public beta 2.05) |
| - Load/Store Single Point |
| - Photo-Releases on Altitudes |
| - Voltage warning set to 3,2V, because the Voltage measurement was lower than before |
| - new Parameter: SinglePoint Speed |
| - Counter for Motor-Restarts for each single motor |
| - Servo-Signals can be configured if mapped to output |
| - Speak "Error_Motor" as soon as one Motor reports a restart |
| - EE_Parameter.NaviDescendRange now as Parameter in EEPROM |
| - EE_Parameter.NaviMaxFlyingRange now as Parameter in EEPROM |
| - Maximum Altitude is also used in the NC instead of "ABSOLUTE_FLYING_ALTITUDE" from SD-Card |
| 2.06b (05.05.2014) |
| - Change for redundant slave: Now the Status of all 8 BLs can be read |
| 2.06c (10.05.2014) |
| - send EE_Parameter.CamOrientation to NC |
| - Bugfix: if the CamOrientation was not zero, the direction in load/store Singelpoints were not correct |
| 2.06d (16.06.2014) |
| - Starting with activated Altitudecontrol: Keep setpoint -2m until Gas-Stick rises up |
| - Bugfix: Redundant slave: wait at start until BLc are configured |
| 2.06e (24.06.2014) |
| - Bugfix: BL-Config of motors 9-12 was deactivated |
| - reading the SW-Version of the BLs |
| - Bugfix: Motor 1 sometimes reported "software not compatible" in BL-Settings |
| - Transmit all version numbers to KopterTool |
| 2.06f (21.7.2014) |
| - Secure function: Avoid that the Altitude setpoint can be much higher than the actual altitude |
| - Use MinGas setting before while "Waiting for takeoff" instead of "AltitudeMinGas". |
| 2.06g |
| - don't start motors when NC is in simulation mode |
| - correct behaviour if CompassEffect is zero |
| 2.08a (10.10.2014) |
| - Redundance now In Flag3 |
| - Boat-Mode implemented |
| - New Gyro DriftCompensation implemented |
| - sending Offset values to NC for Logging |
| - Menu: Neutral Values of Gyro now in full resolution |
| - camera releases via automatic distances faster than 1 sec |
| - clamp Altitude setpoint at +15m instead of +10m to allow faster starting |
| - set all channels to zero in case of RC-Lost |
| - removed: GPS_Z |
| - New Parameter: Parameter_Hoehe_TiltCompensation |
| - Default Failsafe-Time is 60sec (was 30sek before) |
| - Sensitive_RC removed |
| - Bugfix: WP-Event was sometimes triggered two times |
| - transmit HoverGas to NC for logging |
| 2.08b (09.02.2015) |
| - reduced load on UART for redundant slave when motors are not running |
| 2.10a (10.11.2014 - 17.04.2015) |
| - New data structure of ExternalControl |
| - Internal Copies of the Channel values |
| - NC-Yawing rate limited to 100°/sec |
| - ExpandBaro faster -> 80ms instead of 700ms |
| - Altitude measurement re-calibrated (the measured value was about 5% too high) |
| - transmit receiver type to NC |
| - transmit stored neutral values (BOAT) to NC |
| - SPI communication optimized -> some Data are faster, some are slower |
| - BL-State (Current, Temperature,...) are now faster transferred for Logging |
| - ComingHome: automatic Direction change |
| - allows Yawing without CareFree (Yawing at Coming Home) |
| - Bugfix: Output LED Blinking when RC-Lost |
| - bugfix: uBat in 16Bit |
| - AnalogLable CRC implemented -> KopterTool doesn't need to read them every time |
| - ShutterCounter -> counts up when the output switches from low to high |
| - transmit LipoCount to NC |
| - Config "Disable CameraCompensation" disables also Roll-Compensation now |
| - AccZ in 3D-Datastructure (for Ben) |
| - new Parameter: LandingAccZ |
| - 16 Motors |
| - in-flight HoTT: Motortest and ACC-Calibration |
| - Error Message: No Redundancy |
| - Error Message: Redundancy Test |
| - Redundant Slave: copy the Current, State and Temperature from the UART Data |
| - in-flight ACC-Calibration with Jeti and KopterTool |
| - ACC-Calibration by stick: 5 seconds delay |
| - Bugfix: LED pattern was not used more often if the Hold time was longer than the pattern time |
| - Servo Failsafe Positions implemented |
| -> That Position is used for RC-Lost and UnderVoltage-Autolanding |
| -> minimum 10 seconds active |
| - MULTIPLEX servo protocol implemented (12 & 16 Channels) |
| 2.10b (28.04.2014) |
| - small changes for the case of "NC-Communication loss" |
| 2.10c (11.05.2015) |
| - Redundancy Master: If the I2C-Bus was switched off before flight (motors idle runnung), the Master didn't go into 'Fly'-State |
| - Auto-Safe by transmitter-switch: UserParameter5 can be used in Menu "Save single position" |
| - Auto-Load by transmitter-switch: UserParameter5 in Menu "Load single position" |
| 2.10e (13.07.2015) |
| - ERR38: "GPS Update Rate" if Update Rate is lower than 5Hz |
| - Parameter.FailSafeTime now in Logfile |
| - Continous SPI-Transmission during calibration -> avoids different error-messages like "No FC Communication" etc. |
| - Axisdecoupling can't be deactivated |
| 2.12a (12.10.2015) |
| - SingleWpControlChannel -> 3-stage switch for store/call single point |
| - MenuKeyChannel -> Key for Jeti/HoTT-Menu: Single points |
| - REDUNDANT Slave doesn't report 'CareFree-Error' |
| - Load Points via Switch on transmitter without using a menu |
| - AxisDecoupling can't be deactivated |
| - ExternalControlTimeout activated (2 seconds) |
| 2.12b (05.11.2015) |
| - NextWP-Channel: Hysteresis changed |
| - small Bugfix: Yawing for Coming hone was disabled if yawing was already in progress |
| 2.14a (22.10.2015 - 15.02.2016) |
| - Support for FC3.0 |
| - NC-Lib: compatiblity increased; Version check in LIB |
| - ExternalControl: |
| - more features added (GPS-Switch, Altitude, CF,..) |
| - can be sent to NC and NC will foreward through SPI |
| - ReceiverOkay implemented -> either if Data from RC or External Control are valid |
| - SPI transmission of big Blocks added (for config data etc.) |
| - SPI Error-counter added in analog data |
| - SPI transmission changed to 20bytes of payload |
| - HoTT-Text: "Compass-Calibration" |
| - Errors: |
| 40: RC-Voltage |
| 41: Power Supply |
| 42: ACC not calibratetd |
| - show settings name: 5 seconds instead of 10 seconds |
| - HoTT & Jeti: Show Slave Error Code in Telemetry (only FC 3.0) |
| - Slave marks BLs as present if they answer via UART |
| - FC3.0: Transmit Status to Master FC |
| - prevents switch-on in case of error |
| - switches off if Master says: Switched off by RC-Command |
| - New Parameter: CamCtrlModeChannel & CamCtrlZoomChannel |
| - CamCtrl Character in HoTT & Jeti display |
| - HugeBlock: wait until the I2C data is finished -> avoid I2C errors |
| - Servo Position from Serial Poti: check if there is valid data |
| - 30 sek Timout on serial Data (only for Servo Position until now) |
| - Small Bugfix: Beep sequence was sometimes disturbed during power on |
| - SPEAK_RECEIVER_VOLTAGE implemented (FC3.0) |
| - since 2.13h (02.2016), the eeprom parameters are backwards compatible |
| - uart buffer increased to 250 bytes to hold the new eeporm parameter structure |
| - Simulation: correct behaviour of Servo-Failsafe-Positions |
| - by default: CFG3_NO_SDCARD_NO_START |
| 2.14b |
| - default: |
| EE_Parameter.CamCtrlModeChannel = 0; |
| EE_Parameter.CamCtrlZoomChannel = 0; |
| 2.14c |
| - checking baro-sensor during flight. Report "ERR:Pressure sensor" and disable Altitude control in case of a Problem |
| 2.14e (1.8.2016 -> Patch) |
| - REDUNDANT_SLAVE: small Bugfix -> sometimes "SL23: Motor Restart" before liftoff |
| 2.16a (05.12.2016) |
| - Parachute-Input for FC3.0 -> fast swicth off on IO1 (License feature required) |
| - Fixed: PPM_Diff[] could contain a value if the channels are > 128. That had effect to the Motor-Switch function. |
| - New Bit: CFG3_RISE_FIRST_WAYPOINT -> "Rise on first Waypoint" can be disabled by Parameter |
| - OEM-String |
| - REDUNDANT_SLAVE: small Bugfix -> sometimes "SL23: Motor Restart" before liftoff |
| - Redundance_Master: small Bugfix -> Lost of serial bus not reported |
| - set GPS-Switch to FREE if GPS is deactivated in the settings |
| - unlimited Failsafe-Time possible if License is installed |
| - CamCtrlCharacter in Text-Telemetry |
| - last Gyro calibration values stored in EEPROM |
| - do not accept a calibration if the zero-values have > 0,3% error compared to the ACC-Calibration |
| - \n\r replaced by \r\n |
| - Waypoint Info in Jeti telemetry |
| - Baro temperature compensation implemented for FC3.0 |
| - Autoswitch-Off if landed: (only FC2.2 and newer) |
| -> RC failsafe |
| -> Auto Landing switch |
| -> undervoltage |
| -> NC landing Waypoints |
| - Laser distance in Hott-Menu |
| 2.18a (20.04.2017) |
| - Flyzones implemented |
| -> Settings option: FlyZoneRequired |
| -> Settings option: Land Outside Flyzone |
| -> Text in HoTT-Telemetry |
| -> "F" at the end of the Waypoint message line |
| - Error Calibration message in LCD |
| - Bugfix: JetiMenu: ACC-Calibraion during flight didn't work |
| - Bugfix: EEPROM Data was reset if downgrading the firmware |
| - Beeping if Parachute is active |
| - accept slightly higher tolerances during calibration |
| - Better Status text in Text-Telemetry |
| - HotShoe Photo counter in the HoTT Text-Telemetry display |
| 2.18b (27.04.2017) |
| - Bugfix: Dynamic Position Hold, Teachable Carefree & RC-Lost Beep-Off were deactivated in the settings when updating from older Version to 2.18 |
| 2.20a (25.04.2017 - 1.11.2017) |
| - variable baudrate |
| - Automatic yaw in waypoint flight if CF-Switch is not assigned |
| - Speak "MK_READY" if the MK is ready and not moving |
| - New HoTT-Spoken words - Needs Transmitter Firmware Update |
| - BL-Gimbal |
| - External Control: EC_ONLY_IF_MOTOR_OFF 0x10 // use these Stick Positions only if the motors are not running -> this is used for calibrate etc. to make sure that full throttle not applied with running motors |
| - if the AltitudeHold is used via ExternalControl -> switch on AltitudeHold in the parameters -> ExternalControl.Switches & EC2_ALTITUDE |
| - SPI -> Some Data moved to new Positions |
| - SPI -> Block to FC now 2 bytes longer and unused FCStatus removed |
| - Send HoTT_Statustext to NC |
| - NC also beeps if the transmitter was not switched on |
| - variable baudrate on NC - up to 256000Bd |
| - new Parameter: FailsafeAltitude for RC-Lost |
| - new Parameter: GimbalYawChannel |
| - Looping sources deleted |
| 2.20b (14.11.2017) |
| - ExternalControl: Send data to NC for virtual LCD |
| 2.20c (29.11.2017) |
| - Two channels in Parameters for Gimbal Control -> external switches |
| 2.21a (28.03.2018) |
| - WAYPOINT-EVENT = 255 -> Cameratrigger continously ON (or OFF -> Depends on the IDLE-Bit) |
| - GPS-Fix Character from NEMA in HoTT-LCD |
| 2.21b (09.04.2018) |
| - New Error Message "47:Ext.GPS Fix lost" |
| 2.21c (24.10.2018) |
| - Delete all settings if using Parameterset 6 |
| 2.21g (08.05.2019) |
| - Altitude correction by Laser altimeter -> follows the terrrain |
| - Altitude in dm to NC |
| - Baro Altitude corrected and resolution of CalAthmospheare increased |
| - new Parameters for Laser in the settings |
| 2.21h (13.05.2019) |
| - Laser Sensor value in Jeti menu |
| toDo: |
| - CalAthmospheare nachführen |
| /trunk |
|---|
| Property changes: |
| Deleted: tsvn:logminsize |
| -8 |
| \ No newline at end of property |
