Subversion Repositories FlightCtrl

Rev

Rev 1085 | Go to most recent revision | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 1085 Rev 1086
Line 8... Line 8...
8 
volatile unsigned char SendSPI = 0;
 8 
volatile unsigned char SendSPI = 0;
9 
volatile unsigned int ServoState = 40;
 9 
volatile unsigned int ServoState = 40;
Line 10... Line 10...
10 
 
 10 
 
11 
unsigned int BeepMuster = 0xffff;
 11 
unsigned int BeepMuster = 0xffff;
- 
 
 12 
unsigned int ServoValue = 0;
- 
 
 13 
//Salvo 8.9.2007
- 
 
 14 
volatile uint8_t Kompass_Neuer_Wert= 0;
- 
 
 15 
volatile unsigned int Kompass_Value_Old = 0;
- 
 
 16 
// Salvo End
- 
 
 17 
//Salvo 21.9.2007
12 
unsigned int ServoValue = 0;
 18 
short unsigned int Kompass_present= 0; //>0 bedeutet dass der Kompass vorhanden ist
13 
 
 19 
// Salvo End
14 
enum {
 20 
enum {
15 
  STOP             = 0,
 21 
  STOP             = 0,
16 
  CK               = 1,
 22 
  CK               = 1,
17 
  CK8              = 2,
 23 
  CK8              = 2,
Line 20... Line 26...
20 
  CK1024           = 5,
 26 
  CK1024           = 5,
21 
  T0_FALLING_EDGE  = 6,
 27 
  T0_FALLING_EDGE  = 6,
22 
  T0_RISING_EDGE   = 7
 28 
  T0_RISING_EDGE   = 7
23 
};
 29 
};
Line -... Line 30...
- 
 
 30 
 
- 
 
 31 
// Aenderungen von Peter Muehlenbrock ("Salvo") Stand 24.12.2007
- 
 
 32 
/*
24 
 
 33 
Ersatzkompass abgeleitet aus Magnetkompass und Giergyro fuer nahezu neigungsubhaengige Kompassfunktion
25 
 
 34 
*/
26 
SIGNAL (SIG_OVERFLOW0)    // 8kHz
 35 
SIGNAL (SIG_OVERFLOW0)    // 8kHz
27 
{
 36 
{
28 
    static unsigned char cnt_1ms = 1,cnt = 0;
 37 
    static unsigned char cnt_1ms = 1,cnt = 0;
29 
    unsigned char pieper_ein = 0;
 38 
    unsigned char pieper_ein = 0;
30 
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
 39 
//    TCNT0 -= 250;//TIMER_RELOAD_VALUE;
31 
   if(SendSPI) SendSPI--;
 40 
   if(SendSPI) SendSPI--;
32 
   if(!cnt--)
 41 
   if(!cnt--)
- 
 
 42 
    {
33 
    {
 43 
         if (Kompass_present > 0) Kompass_present--; //Runterzaehlen. Wenn 0 ist der Kompass nicht vorhanden
34 
     cnt = 9;
 44 
     cnt = 9;
35 
     cnt_1ms++;
 45 
     cnt_1ms++;
36 
     cnt_1ms %= 2;
 46 
     cnt_1ms %= 2;
37 
     if(!cnt_1ms) UpdateMotor = 1;
 47 
     if(!cnt_1ms) UpdateMotor = 1;
Line 63... Line 73...
63 
        {
 73 
        {
64 
         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
 74 
         if(PlatinenVersion == 10) PORTD &= ~(1<<2);
65 
         else                      PORTC &= ~(1<<7);
 75 
         else                      PORTC &= ~(1<<7);
66 
        }
 76 
        }
Line 67... Line 77...
67 
 
 77 
 
68 
 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV)
 78 
 if(EE_Parameter.GlobalConfig & CFG_KOMPASS_AKTIV) //Salvo 25.10.2008
69 
 {
 79 
 {
70 
  if(PINC & 0x10)
 80 
  if(PINC & 0x10)
71 
   {
 81 
   {
72 
    cntKompass++;
 82 
    cntKompass++;
Line 75... Line 85...
75 
   {
 85 
   {
76 
    if((cntKompass) && (cntKompass < 362))
 86 
    if((cntKompass) && (cntKompass < 362))
77 
    {
 87 
    {
78 
     cntKompass += cntKompass / 41;
 88 
     cntKompass += cntKompass / 41;
79 
     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
 89 
     if(cntKompass > 10) KompassValue = cntKompass - 10; else KompassValue = 0;
- 
 
 90 
// Salvo Kompassoffset 23.12.2007 ***********
- 
 
 91 
         Kompass_present = 255;
- 
 
 92 
//       Kompass_Value_Old      =       KompassValue;
- 
 
 93 
         if (KOMPASS_OFFSET > 0)  KompassValue = cntKompass -KOMPASS_OFFSET;
- 
 
 94 
         else KompassValue = cntKompass - ((int) (Parameter_UserParam4*2));
- 
 
 95 
 
- 
 
 96 
         if (KompassValue < 0)
- 
 
 97 
         {
- 
 
 98 
                KompassValue += 360;
- 
 
 99 
         }
- 
 
 100 
         if (KompassValue >= 360)
- 
 
 101 
         {
- 
 
 102 
                KompassValue -= 360;
- 
 
 103 
         }     
- 
 
 104 
 // Salvo End  
80 
    }
 105 
    }
81 
//     if(cntKompass < 10) cntKompass = 10;
 106 
//     if(cntKompass < 10) cntKompass = 10;
82 
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
 107 
//     KompassValue = (unsigned long)((unsigned long)(cntKompass-10)*720L + 1L) / 703L;
83 
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
 108 
     KompassRichtung = ((540 + KompassValue - KompassStartwert) % 360) - 180;
- 
 
 109 
//Salvo 13.9.2007 Ok Erkennung des Magnetkompasses
- 
 
 110 
         Kompass_Neuer_Wert     = 1;
- 
 
 111 
 // Salvo End
84 
    cntKompass = 0;
 112 
     cntKompass = 0;
85 
   }
 113 
   }
86 
 }
 114 
 }
87 
}
 115 
}
Line 88... Line 116...
88 
 
 116