WebSVN - FlightCtrl - Diff - Rev 2 and 29 - /branches/V0.60_T1_schalter_T2


/*#######################################################################################
Flight Control
#######################################################################################*/
 
#ifndef _FC_H
#define _FC_H
 
 
//#define My stuff
 
#define MS_SCHALTERWERT1        20
#define MS_SCHALTERWERT2        100
#define MS_SCHALTERWERT3        200
#define MS_SERVO_AN                     100
 
#define T1_ON PORTC |= 0x04
#define T1_OFF PORTC &=~0x04
#define T1_Switch PORTC ^= (1<<PIN2)
#define T2_ON PORTC |= 0x08
#define T2_OFF PORTC &=~0x08
#define T2_Switch PORTC ^= (1<<PIN3)
 
extern unsigned int Blinki;
unsigned char Blinkzeit;
//end My stuff 
 
 
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;
 
 
void MotorRegler(void);
void SendMotorData(void);
void CalibrierMittelwert(void);
void Mittelwert(void);
void SetNeutral(void);
 
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);
 
#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];
 };
 
 
 
 
extern struct mk_param_struct EE_Parameter;
 
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;
 
#endif //_FC_H
 
 

Subversion Repositories FlightCtrl

(root)/branches/V0.60_T1_schalter_T2_Binkend/fc.h @ 2246 - Rev 2 → 29

Rev 2		Rev 29
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
-		8
-		9	//#define My stuff
-		10
-		11	#define MS_SCHALTERWERT1 20
-		12	#define MS_SCHALTERWERT2 100
-		13	#define MS_SCHALTERWERT3 200
-		14	#define MS_SERVO_AN 100
-		15
-		16	#define T1_ON PORTC \|= 0x04
-		17	#define T1_OFF PORTC &=~0x04
-		18	#define T1_Switch PORTC ^= (1<<PIN2)
-		19	#define T2_ON PORTC \|= 0x08
-		20	#define T2_OFF PORTC &=~0x08
-		21	#define T2_Switch PORTC ^= (1<<PIN3)
-		22
-		23	extern unsigned int Blinki;
-		24	unsigned char Blinkzeit;
-		25	//end My stuff
-		26
7		27
8	extern volatile unsigned char Timeout;	28	extern volatile unsigned char Timeout;
9	extern unsigned char Sekunde,Minute;	29	extern unsigned char Sekunde,Minute;
10	extern volatile long IntegralNick,IntegralNick2;	30	extern volatile long IntegralNick,IntegralNick2;
11	extern volatile long IntegralRoll,IntegralRoll2;	31	extern volatile long IntegralRoll,IntegralRoll2;
12	extern volatile long Mess_IntegralNick,Mess_IntegralNick2;	32	extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
13	extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;	33	extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
14	extern volatile long Mess_Integral_Hoch;	34	extern volatile long Mess_Integral_Hoch;
15	extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;	35	extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
16	extern volatile int KompassValue;	36	extern volatile int KompassValue;
17	extern volatile int KompassStartwert;	37	extern volatile int KompassStartwert;
18	extern volatile int KompassRichtung;	38	extern volatile int KompassRichtung;
19	extern int HoehenWert;	39	extern int HoehenWert;
20	extern int SollHoehe;	40	extern int SollHoehe;
21	extern volatile int MesswertNick,MesswertRoll,MesswertGier;	41	extern volatile int MesswertNick,MesswertRoll,MesswertGier;
22	extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;	42	extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
23	extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;	43	extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
24	extern volatile float NeutralAccZ;	44	extern volatile float NeutralAccZ;
25		45
26		46
27	void MotorRegler(void);	47	void MotorRegler(void);
28	void SendMotorData(void);	48	void SendMotorData(void);
29	void CalibrierMittelwert(void);	49	void CalibrierMittelwert(void);
30	void Mittelwert(void);	50	void Mittelwert(void);
31	void SetNeutral(void);	51	void SetNeutral(void);
32		52
33	unsigned char h,m,s;	53	unsigned char h,m,s;
34	volatile unsigned char Timeout ;	54	volatile unsigned char Timeout ;
35	unsigned char CosinusNickWinkel, CosinusRollWinkel;	55	unsigned char CosinusNickWinkel, CosinusRollWinkel;
36	volatile long IntegralNick,IntegralNick2;	56	volatile long IntegralNick,IntegralNick2;
37	volatile long IntegralRoll,IntegralRoll2;	57	volatile long IntegralRoll,IntegralRoll2;
38	volatile long Integral_Gier;	58	volatile long Integral_Gier;
39	volatile long Mess_IntegralNick,Mess_IntegralNick2;	59	volatile long Mess_IntegralNick,Mess_IntegralNick2;
40	volatile long Mess_IntegralRoll,Mess_IntegralRoll2;	60	volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
41	volatile long Mess_Integral_Gier;	61	volatile long Mess_Integral_Gier;
42	volatile int DiffNick,DiffRoll;	62	volatile int DiffNick,DiffRoll;
43	extern int Poti1, Poti2, Poti3, Poti4;	63	extern int Poti1, Poti2, Poti3, Poti4;
44	volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;	64	volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
45	unsigned char MotorWert[5];	65	unsigned char MotorWert[5];
46	volatile unsigned char SenderOkay;	66	volatile unsigned char SenderOkay;
47	int StickNick,StickRoll,StickGier;	67	int StickNick,StickRoll,StickGier;
48	char MotorenEin;	68	char MotorenEin;
49	extern void DefaultKonstanten(void);	69	extern void DefaultKonstanten(void);
50		70
51	#define STRUCT_PARAM_LAENGE 58	71	#define STRUCT_PARAM_LAENGE 58
52	struct mk_param_struct	72	struct mk_param_struct
53	{	73	{
54	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3	74	unsigned char Kanalbelegung[8]; // GAS[0], GIER[1],NICK[2], ROLL[3], POTI1, POTI2, POTI3
55	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv	75	unsigned char GlobalConfig; // 0x01=Höhenregler aktiv,0x02=Kompass aktiv, 0x04=GPS aktiv, 0x08=Heading Hold aktiv
56	unsigned char Hoehe_MinGas; // Wert : 0-100	76	unsigned char Hoehe_MinGas; // Wert : 0-100
57	unsigned char Luftdruck_D; // Wert : 0-250	77	unsigned char Luftdruck_D; // Wert : 0-250
58	unsigned char MaxHoehe; // Wert : 0-32	78	unsigned char MaxHoehe; // Wert : 0-32
59	unsigned char Hoehe_P; // Wert : 0-32	79	unsigned char Hoehe_P; // Wert : 0-32
60	unsigned char Hoehe_Verstaerkung; // Wert : 0-50	80	unsigned char Hoehe_Verstaerkung; // Wert : 0-50
61	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250	81	unsigned char Hoehe_ACC_Wirkung; // Wert : 0-250
62	unsigned char Stick_P; // Wert : 1-6	82	unsigned char Stick_P; // Wert : 1-6
63	unsigned char Stick_D; // Wert : 0-64	83	unsigned char Stick_D; // Wert : 0-64
64	unsigned char Gier_P; // Wert : 1-20	84	unsigned char Gier_P; // Wert : 1-20
65	unsigned char Gas_Min; // Wert : 0-32	85	unsigned char Gas_Min; // Wert : 0-32
66	unsigned char Gas_Max; // Wert : 33-250	86	unsigned char Gas_Max; // Wert : 33-250
67	unsigned char GyroAccFaktor; // Wert : 1-64	87	unsigned char GyroAccFaktor; // Wert : 1-64
68	unsigned char KompassWirkung; // Wert : 0-32	88	unsigned char KompassWirkung; // Wert : 0-32
69	unsigned char Gyro_P; // Wert : 10-250	89	unsigned char Gyro_P; // Wert : 10-250
70	unsigned char Gyro_I; // Wert : 0-250	90	unsigned char Gyro_I; // Wert : 0-250
71	unsigned char UnterspannungsWarnung; // Wert : 0-250	91	unsigned char UnterspannungsWarnung; // Wert : 0-250
72	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust	92	unsigned char NotGas; // Wert : 0-250 //Gaswert bei Empängsverlust
73	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen	93	unsigned char NotGasZeit; // Wert : 0-250 // Zeitbis auf NotGas geschaltet wird, wg. Rx-Problemen
74	unsigned char UfoAusrichtung; // X oder + Formation	94	unsigned char UfoAusrichtung; // X oder + Formation
75	unsigned char I_Faktor; // Wert : 0-250	95	unsigned char I_Faktor; // Wert : 0-250
76	unsigned char UserParam1; // Wert : 0-250	96	unsigned char UserParam1; // Wert : 0-250
77	unsigned char UserParam2; // Wert : 0-250	97	unsigned char UserParam2; // Wert : 0-250
78	unsigned char UserParam3; // Wert : 0-250	98	unsigned char UserParam3; // Wert : 0-250
79	unsigned char UserParam4; // Wert : 0-250	99	unsigned char UserParam4; // Wert : 0-250
80	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos	100	unsigned char ServoNickControl; // Wert : 0-250 // Stellung des Servos
81	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo	101	unsigned char ServoNickComp; // Wert : 0-250 // Einfluss Gyro/Servo
82	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag	102	unsigned char ServoNickMin; // Wert : 0-250 // Anschlag
83	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag	103	unsigned char ServoNickMax; // Wert : 0-250 // Anschlag
84	unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo	104	unsigned char ServoNickRefresh; // Wert : 0-250 // Richtung Einfluss Gyro/Servo
85	unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo	105	unsigned char ServoNickCompInvert; // Wert : 0-250 // Richtung Einfluss Gyro/Servo
86	unsigned char Reserved[7];	106	unsigned char Reserved[7];
87	char Name[12];	107	char Name[12];
88	};	108	};
89		109
90		110
91		111
92		112
93	extern struct mk_param_struct EE_Parameter;	113	extern struct mk_param_struct EE_Parameter;
94		114
95	extern unsigned char Parameter_Luftdruck_D;	115	extern unsigned char Parameter_Luftdruck_D;
96	extern unsigned char Parameter_MaxHoehe;	116	extern unsigned char Parameter_MaxHoehe;
97	extern unsigned char Parameter_Hoehe_P;	117	extern unsigned char Parameter_Hoehe_P;
98	extern unsigned char Parameter_Hoehe_ACC_Wirkung;	118	extern unsigned char Parameter_Hoehe_ACC_Wirkung;
99	extern unsigned char Parameter_KompassWirkung;	119	extern unsigned char Parameter_KompassWirkung;
100	extern unsigned char Parameter_Gyro_P;	120	extern unsigned char Parameter_Gyro_P;
101	extern unsigned char Parameter_Gyro_I;	121	extern unsigned char Parameter_Gyro_I;
102	extern unsigned char Parameter_Gier_P;	122	extern unsigned char Parameter_Gier_P;
103	extern unsigned char Parameter_ServoNickControl;	123	extern unsigned char Parameter_ServoNickControl;
104		124
105	#endif //_FC_H	125	#endif //_FC_H
106		126
107		127