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#ifndef _FC_H
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#ifndef _FC_H
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#define _FC_H
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#define _FC_H
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extern volatile unsigned int I2CTimeout;
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extern volatile unsigned int I2CTimeout;
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extern unsigned char Sekunde,Minute;
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extern unsigned char Sekunde,Minute;
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extern volatile long IntegralNick,IntegralNick2;
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extern long IntegralNick,IntegralNick2;
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extern long IntegralRoll,IntegralRoll2;
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extern volatile long IntegralRoll,IntegralRoll2;
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extern long Integral_Gier;
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extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
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extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
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extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern volatile long IntegralAccNick,IntegralAccRoll;
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extern long IntegralAccNick,IntegralAccRoll;
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extern volatile long Mess_Integral_Hoch;
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volatile long Mess_Integral_Hoch;
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extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
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extern volatile long Mess_Integral_Gier,Mess_Integral_Gier2;
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extern int  KompassValue;
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extern int KompassValue;
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extern int  KompassStartwert;
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extern int KompassStartwert;
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extern int  KompassRichtung;
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extern int KompassRichtung;
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extern int HoehenWert;
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extern int HoehenWert;
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extern int SollHoehe;
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extern int SollHoehe;
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extern volatile int MesswertNick,MesswertRoll,MesswertGier;
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extern int MesswertNick,MesswertRoll,MesswertGier;
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extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
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int AdNeutralNick,AdNeutralRoll,AdNeutralGier;
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extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
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extern volatile float NeutralAccZ;
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int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch;
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extern long Umschlag180Nick, Umschlag180Roll;
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extern long Umschlag180Nick, Umschlag180Roll;
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void MotorRegler(void);
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void MotorRegler(void);
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extern void DefaultKonstanten(void);
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extern void DefaultKonstanten(void);
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void DefaultKonstanten1(void);
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void DefaultKonstanten1(void);
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void DefaultKonstanten2(void);
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void DefaultKonstanten2(void);
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extern unsigned char h,m,s;
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extern unsigned char h,m,s;
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extern volatile unsigned char Timeout ;
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extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
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extern volatile long IntegralNick,IntegralNick2;
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extern volatile long IntegralRoll,IntegralRoll2;
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extern volatile long Integral_Gier;
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extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
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extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
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extern volatile long Mess_Integral_Gier;
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extern volatile unsigned char Timeout;
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extern volatile int  DiffNick,DiffRoll;
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extern int DiffNick,DiffRoll;
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extern int  Poti1, Poti2, Poti3, Poti4;
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extern int Poti1, Poti2, Poti3, Poti4;
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extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
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extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
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extern unsigned char MotorWert[5];
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extern unsigned char MotorWert[5];
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extern volatile unsigned char SenderOkay;
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extern volatile unsigned char SenderOkay;
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extern int StickNick,StickRoll,StickGier;
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extern int StickNick,StickRoll,StickGier;
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extern char MotorenEin;
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extern void DefaultKonstanten1(void);
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extern void DefaultKonstanten2(void);
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extern char MotorenEin;
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#define  STRUCT_PARAM_LAENGE  65
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#define  STRUCT_PARAM_LAENGE  65
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struct mk_param_struct
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struct mk_param_struct
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   unsigned char Reserved[4];
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   unsigned char Reserved[4];
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   char Name[12];
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   char Name[12];
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 };
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 };
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struct acc_neutral_struct
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{
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        volatile int X;
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        volatile int Y;
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        volatile float Z;
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};
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extern struct acc_neutral_struct acc_neutral;
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extern void calib_acc(void);
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/*
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/*
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unsigned char ServoNickMax;           // Wert : 0-250
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unsigned char ServoNickMax;           // Wert : 0-250
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    unsigned char ServoNickRefresh;       //
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    unsigned char ServoNickRefresh;       //