Subversion Repositories FlightCtrl

Rev

Rev 466 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed

Rev 466 Rev 479
Line 5... Line 5...
5 
#ifndef _FC_H
 5 
#ifndef _FC_H
6 
#define _FC_H
 6 
#define _FC_H
Line 7... Line 7...
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 long IntegralNick,IntegralNick2;
- 
 
 11 
extern long IntegralRoll,IntegralRoll2;
11 
extern volatile long IntegralRoll,IntegralRoll2;
 12 
extern long Integral_Gier;
12 
extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
 13 
extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
13 
extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
 14 
extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
14 
extern volatile long IntegralAccNick,IntegralAccRoll;
 15 
extern long IntegralAccNick,IntegralAccRoll;
15 
extern volatile long Mess_Integral_Hoch;
 16 
volatile long Mess_Integral_Hoch;
16 
extern volatile long Integral_Gier,Mess_Integral_Gier,Mess_Integral_Gier2;
 17 
extern volatile long Mess_Integral_Gier,Mess_Integral_Gier2;
17 
extern int  KompassValue;
 18 
extern int KompassValue;
18 
extern int  KompassStartwert;
 19 
extern int KompassStartwert;
19 
extern int  KompassRichtung;
 20 
extern int KompassRichtung;
20 
extern int HoehenWert;
 21 
extern int HoehenWert;
21 
extern int SollHoehe;
 22 
extern int SollHoehe;
22 
extern volatile int MesswertNick,MesswertRoll,MesswertGier;
 23 
extern int MesswertNick,MesswertRoll,MesswertGier;
23 
extern volatile int AdNeutralNick,AdNeutralRoll,AdNeutralGier, Mittelwert_AccNick, Mittelwert_AccRoll;
 24 
int AdNeutralNick,AdNeutralRoll,AdNeutralGier;
24 
extern volatile int NeutralAccX, NeutralAccY,Mittelwert_AccHoch;
 - 
 
25 
extern volatile float NeutralAccZ;
 25 
int Mittelwert_AccNick, Mittelwert_AccRoll,Mittelwert_AccHoch;
Line 26... Line 26...
26 
extern long Umschlag180Nick, Umschlag180Roll;
 26 
extern long Umschlag180Nick, Umschlag180Roll;
27 
 
 27 
 
28 
void MotorRegler(void);
 28 
void MotorRegler(void);
Line 34... Line 34...
34 
extern void DefaultKonstanten(void);
 34 
extern void DefaultKonstanten(void);
35 
void DefaultKonstanten1(void);
 35 
void DefaultKonstanten1(void);
36 
void DefaultKonstanten2(void);
 36 
void DefaultKonstanten2(void);
Line 37... Line 37...
37 
 
 37 
 
38 
extern unsigned char h,m,s;
 38 
extern unsigned char h,m,s;
39 
extern volatile unsigned char Timeout ;
 - 
 
40 
extern unsigned char CosinusNickWinkel, CosinusRollWinkel;
 - 
 
41 
extern volatile long IntegralNick,IntegralNick2;
 - 
 
42 
extern volatile long IntegralRoll,IntegralRoll2;
 - 
 
43 
extern volatile long Integral_Gier;
 - 
 
44 
extern volatile long Mess_IntegralNick,Mess_IntegralNick2;
 - 
 
45 
extern volatile long Mess_IntegralRoll,Mess_IntegralRoll2;
 - 
 
46 
extern volatile long Mess_Integral_Gier;
 39 
extern volatile unsigned char Timeout;
47 
extern volatile int  DiffNick,DiffRoll;
 40 
extern int DiffNick,DiffRoll;
48 
extern int  Poti1, Poti2, Poti3, Poti4;
 41 
extern int Poti1, Poti2, Poti3, Poti4;
49 
extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
 42 
extern volatile unsigned char Motor_Vorne,Motor_Hinten,Motor_Rechts,Motor_Links, Count;
50 
extern unsigned char MotorWert[5];
 43 
extern unsigned char MotorWert[5];
51 
extern volatile unsigned char SenderOkay;
 44 
extern volatile unsigned char SenderOkay;
52 
extern int StickNick,StickRoll,StickGier;
 45 
extern int StickNick,StickRoll,StickGier;
53 
extern char MotorenEin;
 - 
 
54 
extern void DefaultKonstanten1(void);
 - 
 
Line 55... Line 46...
55 
extern void DefaultKonstanten2(void);
 46 
extern char MotorenEin;
56 
 
 47 
 
57 
#define  STRUCT_PARAM_LAENGE  65
 48 
#define  STRUCT_PARAM_LAENGE  65
58 
struct mk_param_struct
 49 
struct mk_param_struct
Line 104... Line 95...
104 
   unsigned char Reserved[4];
 95 
   unsigned char Reserved[4];
105 
   char Name[12];
 96 
   char Name[12];
106 
 };
 97 
 };
Line -... Line 98...
- 
 
 98 
 
- 
 
 99 
 
- 
 
 100 
struct acc_neutral_struct
- 
 
 101 
{
- 
 
 102 
        volatile int X;
- 
 
 103 
        volatile int Y;
- 
 
 104 
        volatile float Z;
- 
 
 105 
};
- 
 
 106 
 
- 
 
 107 
extern struct acc_neutral_struct acc_neutral;
107 
 
 108 
extern void calib_acc(void);
108 
 
 109 
 
109 
/*
 110 
/*
110 
unsigned char ServoNickMax;           // Wert : 0-250
 111 
unsigned char ServoNickMax;           // Wert : 0-250
111 
    unsigned char ServoNickRefresh;       //
 112 
    unsigned char ServoNickRefresh;       //