WebSVN - FlightCtrl - Diff - Rev 687 and 688 - /branches/V0.68d Code Redesign killagreg/fc.h


/*#######################################################################################
Flight Control
#######################################################################################*/
 
#ifndef _FC_H
#define _FC_H
 
extern volatile unsigned int I2CTimeout;
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 IntegralAccNick,IntegralAccRoll;
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;
extern long Umschlag180Nick, Umschlag180Roll;
extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
 
void MotorRegler(void);
void SendMotorData(void);
void CalibrierMittelwert(void);
void Mittelwert(void);
void SetNeutral(void);
void Piep(unsigned char Anzahl);
 
extern unsigned char h,m,s;
extern volatile unsigned char Timeout ;
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
extern volatile long IntegralNick,IntegralNick2;
extern volatile long IntegralRoll,IntegralRoll2;
extern volatile long Integral_Gier;
extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
extern volatile long Mess_Integral_Gier;
extern volatile int  DiffNick,DiffRoll;
extern int  Poti1, Poti2, Poti3, Poti4;
extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
extern unsigned char MotorWert[5];
 
extern int StickNick,StickRoll,StickGier;
extern char MotorenEin;
 
 
 
extern unsigned char Parameter_Luftdruck_D;
extern unsigned char Parameter_MaxHoehe;
extern unsigned char Parameter_Hoehe_P;
extern unsigned char Parameter_Hoehe_ACC_Wirkung;
extern unsigned char Parameter_KompassWirkung;
extern unsigned char Parameter_Gyro_P;
extern unsigned char Parameter_Gyro_I;
extern unsigned char Parameter_Gier_P;
extern unsigned char Parameter_ServoNickControl;
extern unsigned char Parameter_AchsKopplung1;
extern unsigned char Parameter_AchsGegenKopplung1;
 
 
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/branches/V0.68d Code Redesign killagreg/fc.h - Rev 687 → 688

Rev 687		Rev 688
1	/*#######################################################################################	1	/*#######################################################################################
2	Flight Control	2	Flight Control
3	#######################################################################################*/	3	#######################################################################################*/
4		4
5	#ifndef _FC_H	5	#ifndef _FC_H
6	#define _FC_H	6	#define _FC_H
7		7
8	extern volatile unsigned int I2CTimeout;	8	extern volatile unsigned int I2CTimeout;
9	extern unsigned char Sekunde,Minute;	9	extern unsigned char Sekunde,Minute;
10	extern volatile long IntegralNick,IntegralNick2;	10	extern volatile long IntegralNick,IntegralNick2;
11	extern volatile long IntegralRoll,IntegralRoll2;	11	extern volatile long IntegralRoll,IntegralRoll2;
12	extern volatile long Mess_IntegralNick,Mess_IntegralNick2;	12	extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
13	extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;	13	extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
14	extern volatile long IntegralAccNick,IntegralAccRoll;	14	extern volatile long IntegralAccNick,IntegralAccRoll;
15	extern volatile long Mess_Integral_Hoch;	15	extern volatile long Mess_Integral_Hoch;
16	extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	16	extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
17	extern volatile int KompassValue;	17	extern volatile int KompassValue;
18	extern volatile int KompassStartwert;	18	extern volatile int KompassStartwert;
19	extern volatile int KompassRichtung;	19	extern volatile int KompassRichtung;
20	extern int HoehenWert;	20	extern int HoehenWert;
21	extern int SollHoehe;	21	extern int SollHoehe;
22	extern volatile int MesswertNick,MesswertRoll,MesswertGier;	22	extern volatile int MesswertNick,MesswertRoll,MesswertGier;
23	extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	23	extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
24	extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;	24	extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
25	extern volatile float NeutralAccZ;	25	extern volatile float NeutralAccZ;
26	extern long Umschlag180Nick, Umschlag180Roll;	26	extern long Umschlag180Nick, Umschlag180Roll;
27	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;	27	extern signed int ExternStickNick,ExternStickRoll,ExternStickGier;
28	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;	28	extern unsigned char Parameter_UserParam1,Parameter_UserParam2,Parameter_UserParam3,Parameter_UserParam4,Parameter_UserParam5,Parameter_UserParam6,Parameter_UserParam7,Parameter_UserParam8;
29		29
30	void MotorRegler(void);	30	void MotorRegler(void);
31	void SendMotorData(void);	31	void SendMotorData(void);
32	void CalibrierMittelwert(void);	32	void CalibrierMittelwert(void);
33	void Mittelwert(void);	33	void Mittelwert(void);
34	void SetNeutral(void);	34	void SetNeutral(void);
35	void Piep(unsigned char Anzahl);	35	void Piep(unsigned char Anzahl);
36		36
37	extern unsigned char h,m,s;	37	extern unsigned char h,m,s;
38	extern volatile unsigned char Timeout ;	38	extern volatile unsigned char Timeout ;
39	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;	39	extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
40	extern volatile long IntegralNick,IntegralNick2;	40	extern volatile long IntegralNick,IntegralNick2;
41	extern volatile long IntegralRoll,IntegralRoll2;	41	extern volatile long IntegralRoll,IntegralRoll2;
42	extern volatile long Integral_Gier;	42	extern volatile long Integral_Gier;
43	extern volatile long Mess_IntegralNick,Mess_IntegralNick2;	43	extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
44	extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;	44	extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
45	extern volatile long Mess_Integral_Gier;	45	extern volatile long Mess_Integral_Gier;
46	extern volatile int DiffNick,DiffRoll;	46	extern volatile int DiffNick,DiffRoll;
47	extern int Poti1, Poti2, Poti3, Poti4;	47	extern int Poti1, Poti2, Poti3, Poti4;
48	extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;	48	extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
49	extern unsigned char MotorWert[5];	49	extern unsigned char MotorWert[5];
50	extern volatile unsigned char SenderOkay;	-
51	extern int StickNick,StickRoll,StickGier;	50	extern int StickNick,StickRoll,StickGier;
52	extern char MotorenEin;	51	extern char MotorenEin;
53		52
54		53
55		54
56	extern unsigned char Parameter_Luftdruck_D;	55	extern unsigned char Parameter_Luftdruck_D;
57	extern unsigned char Parameter_MaxHoehe;	56	extern unsigned char Parameter_MaxHoehe;
58	extern unsigned char Parameter_Hoehe_P;	57	extern unsigned char Parameter_Hoehe_P;
59	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	58	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
60	extern unsigned char Parameter_KompassWirkung;	59	extern unsigned char Parameter_KompassWirkung;
61	extern unsigned char Parameter_Gyro_P;	60	extern unsigned char Parameter_Gyro_P;
62	extern unsigned char Parameter_Gyro_I;	61	extern unsigned char Parameter_Gyro_I;
63	extern unsigned char Parameter_Gier_P;	62	extern unsigned char Parameter_Gier_P;
64	extern unsigned char Parameter_ServoNickControl;	63	extern unsigned char Parameter_ServoNickControl;
65	extern unsigned char Parameter_AchsKopplung1;	64	extern unsigned char Parameter_AchsKopplung1;
66	extern unsigned char Parameter_AchsGegenKopplung1;	65	extern unsigned char Parameter_AchsGegenKopplung1;
67		66
68		67
69	#endif //_FC_H	68	#endif //_FC_H
70		69
71		70