WebSVN - NaviCtrl - Diff - Rev 489 and 491

 /*#######################################################################################*/
 /*#######################################################################################*/
 // IMPORTANT NOTE:
 // This is only a dummy implementation for errorfree compiling of the NaviCtrl sources.
 // The GPS navigation routines are NOT included !
 /*#######################################################################################*/
 /*#######################################################################################*/
 /* !!! THIS IS NOT FREE SOFTWARE !!!                                                     */
 /*#######################################################################################*/
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Copyright (c) 2008 Ingo Busker, Holger Buss
 // + Nur für den privaten Gebrauch / NON-COMMERCIAL USE ONLY
 // + FOR NON COMMERCIAL USE ONLY
 // + www.MikroKopter.com
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + 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.
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
 // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + 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
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
 // + Benutzung auf eigene Gefahr
 // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
 // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 // + Die Portierung oder Nutzung 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 permitted
 // +     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 the sources to other systems or using the software on other systems (except 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 <stdio.h>
 #include <stdlib.h>
 #include <math.h>
 #include "91x_lib.h"
 #include "main.h"
 #include "uart1.h"
 #include "GPS.h"
 #include "timer1.h"
 #include "spi_slave.h"
 #include "waypoints.h"
 #include "i2c.h"
 #define M_PI_180        (M_PI / 180.0f)
+#define GPS_UPDATETIME_MS 200           // 200ms is 5 Hz
 #define GPS_UPDATETIME_MS 200           // 200ms is 5 Hz
 typedef enum
+{
         GPS_FLIGHT_MODE_UNDEF,
         GPS_FLIGHT_MODE_FREE,
         GPS_FLIGHT_MODE_AID,
         GPS_FLIGHT_MODE_WAYPOINT
 } GPS_FlightMode_t;
 typedef struct
+{
         float Gain;
         float P;
         float I;
         float D;
         float A;
         float ACC;
         s32 P_Limit;
         s32 I_Limit;
         s32 D_Limit;
         s32 PID_Limit;
         u32 BrakingDuration;
         u8 MinSat;
         s8 StickThreshold;
         float WindCorrection;
         float SpeedCompensation;
         s32 OperatingRadius;
         GPS_FlightMode_t  FlightMode;
 } __attribute__((packed)) GPS_Parameter_t;
-typedef struct
-{
-        u8  Status;             // invalid, newdata, processed
-        s32 North;              // in cm
-        s32 East;               // in cm
-        s32 Bearing;    // in deg
-        s32 Distance;   // in cm
-} __attribute__((packed)) GPS_Deviation_t;
-GPS_Deviation_t CurrentTargetDeviation;         // Deviation from Target
+GPS_Pos_Deviation_t CurrentTargetDeviation;             // Deviation from Target
-GPS_Deviation_t CurrentHomeDeviation;           // Deviation from Home
+GPS_Pos_Deviation_t CurrentHomeDeviation;               // Deviation from Home
-GPS_Deviation_t TargetHomeDeviation;            // Deviation from Target to Home
+GPS_Pos_Deviation_t TargetHomeDeviation;                // Deviation from Target to Home
 GPS_Stick_t             GPS_Stick;
 // the CAM orientation
 CAM_Orientation_t CAM_Orientation;
 GPS_Parameter_t GPS_Parameter;
 // the gps reference positions
 GPS_Pos_t GPS_HoldPosition      = {0,0,0, INVALID};                     // the hold position
 GPS_Pos_t GPS_HomePosition      = {0,0,0, INVALID};                     // the home position
 GPS_Pos_t * GPS_pTargetPosition = NULL;                             // pointer to the actual target position
 u32 GPS_TargetRadius = 0;                                                               // catch radius for target area
-Point_t* GPS_pWaypoint = NULL;                                          // pointer to the actual waypoint
+Point_t* GPS_pWaypoint = NULL;                                                  // pointer to the actual waypoint
 //-------------------------------------------------------------
 // Update GPSParamter
 void GPS_UpdateParameter(void)
+{
+}
 //-------------------------------------------------------------
 // This function defines a good GPS signal condition
 u8 GPS_IsSignalOK(void)
+{
         return 0;
+}
 //------------------------------------------------------------
 // Checks for manual control action
 u8 GPS_IsManuallyControlled(void)
+{
         return 0;
+}
-//------------------------------------------------------------
-// copy GPS position from source position to target position
-u8 GPS_CopyPosition(GPS_Pos_t * pGPSPosSrc, GPS_Pos_t* pGPSPosTgt)
-{
-        return 0;
-}
-//------------------------------------------------------------
-// clear position data
-u8 GPS_ClearPosition(GPS_Pos_t * pGPSPos)
-{
-        return 0;
-}
 //------------------------------------------------------------
 void GPS_Neutral(void)
+{
+}
 //------------------------------------------------------------
 void GPS_Init(void)
+{
+}
 //------------------------------------------------------------
-// calculate the bearing to target position from its deviation
-s32 DirectionToTarget_N_E(float northdev, float eastdev)
-{
-        return 0;
-}
-//------------------------------------------------------------
-// Rescale xy-vector length if length limit is violated
-// returns vector len after scaling
-s32 GPS_LimitXY(s32 *x, s32 *y, s32 limit)
-{
-        return 0;
-}
-//------------------------------------------------------------
-// transform the integer deg into float radians
-inline double RadiansFromGPS(s32 deg)
-{
-        return 0.0;
-}
-//------------------------------------------------------------
-// transform the integer deg into float deg
-inline double DegFromGPS(s32 deg)
-{
-        return 0.0;
-}
-//------------------------------------------------------------
-// calculate the deviation from the current position to the target position
-u8 GPS_CalculateDeviation(GPS_Pos_t * pCurrentPos, GPS_Pos_t * pTargetPos, GPS_Deviation_t* pDeviationFromTarget)
-{
-        return 0;
-}
 void GPS_Navigation(gps_data_t *pGPS_Data, GPS_Stick_t* pGPS_Stick)
+{
         return;
+}
 void CalcHeadFree(void)
+{
   return;
+}

Subversion Repositories NaviCtrl

(root)/tags/V2.14e/GPS.c @ 789 - Rev 489 → 491