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--- projects:ukhas_glider_project:code [2007/12/06 18:12] – Zagi code laurenceb
+++ projects:ukhas_glider_project:code [2008/07/19 23:33] (current) – external edit 127.0.0.1
@@ Line 22: / Line 22: @@
 #include <avr/eeprom.h>
 #include "init.h"
+#include "attitude.h"
 #define altitudelimit 4000          //4km cutdown
 #define timelimit 600               //10 minutes
 #define Deg2rad M_PI/180
 #define Rad2deg 180/M_PI
+#define tweakingfactor 0.002
+#define batteryinput 4
+#define batteryfactor 8/1024
 void wiggleservo(void);
 void cutdown(char channel,char time);
 void updategpsdata(void);
+char *datastring(float k, float Target, attitude_type *ourattitude);
+float getbatteryvoltage(void);
 u08 cutdownrulecheck(void);
+u08 checksum(char *c_buf);
 char EEMEM windeast[1020];
 char EEMEM windnorth[1020];
@@ Line 37: / Line 44: @@
 float targeteast;
 int time;                          //time
+char *datastring(float k, float Target, attitude_type *ourattitude)
+{
+static char outputbuffer[80];
+char longitude;
+char latitude;
+if (gpsGetInfo()->PosLLA.lon.f>0)
+ {
+ longitude='E';
+ }
+else
+ {
+ longitude='W';
+ }
+if (gpsGetInfo()->PosLLA.lat.f>0)
+ {
+ latitude='N';
+ }
+else
+ {
+ latitude='S';
+ }
+sprintf(outputbuffer,"%.6f,%c,%.6f,%c,%.1f,M,%.1f,%.1f,%c,%.1f,%.1f,%.2f,",gpsGetInfo()->PosLLA.lat.f,
+latitude,gpsGetInfo()->PosLLA.lon.f,longitude,gpsGetInfo()->PosLLA.alt.f,k,Target,ourattitude->status,
+ourattitude->pitch,ourattitude->roll,getbatteryvoltage());
+sprintf(outputbuffer,"%s%X",outputbuffer,checksum(outputbuffer));
+return (outputbuffer);
+}
+float getbatteryvoltage()
+{
+return (a2dConvert10bit(batteryinput)*batteryfactor);
+}
+u08 checksum(char *c_buf)
+{
+        u08 i;
+        u08 sum=0;
+		u08 size=strlen(c_buf);
+        for(i=0 ; i<size ; i++,c_buf++)
+		{
+                sum += *c_buf;
+        }
+        return(sum);
+}
 void wiggleservos()
@@ Line 95: / Line 151: @@
  || gpsGetInfo()->VelHS.updates<=updatecounterHS)                     //while we still have some old data
  {
-  nmeaProcess(Rxbuff0);                                               //look for new data
+  nmeaProcess(Rxbuff0);
-  updatecounterLLA=gpsGetInfo()->PosLLA.updates;
+ }                                             //look for new data
-  updatecounterENU=gpsGetInfo()->VelENU.updates;
+ updatecounterLLA=gpsGetInfo()->PosLLA.updates; //set the update counters correctly
-  updatecounterHS=gpsGetInfo()->VelHS.updates;
+ updatecounterENU=gpsGetInfo()->VelENU.updates;
- }
+ updatecounterHS=gpsGetInfo()->VelHS.updates;
 }
@@ Line 202: / Line 258: @@
   PORTG|=(1<<3);
  }
- ; //descent code
+ tweakfactor=K*tweakingfactor;
+ L=(int)gpsGetInfo()->PosLLA.alt.f/50;
+ Wind_x=(float)windeast[L]-127;
+ Wind_y=(float)windnorth[L]-127;
+ if(L<5)
+ {
+  enablegroundcontrol();                               //groundcontrol enabled for smooth landing
+ }
+ stdout=&mystdio0;
+ if (bit_is_set(PIND,4))                             //CTS from radio
+ {printf("UKHAS, %s\r\n",datastring(K,Target,getattitude()));}
+ stdout=&mystdio1;
+ printf("UKHAS, %s\r\n",datastring(K,Target,getattitude()));
 }
@@ Line 214: / Line 282: @@
 <code c>
-// this is under construction
+// initialisation code
 // - Laurenceb
 #include "init.h"
@@ Line 253: / Line 321: @@
 {
  char teststr[15];
-sbi(DDRD,5);                      //lcd is output
+sbi(DDRD,5);                      //led is output
 sbi(DDRB,5);
 sbi(DDRB,6);                      //pwm outputs
+sbi(DDRG,3);                      //direction led
+sbi(DDRG,4);
+sbi(DDRD,6);                      //cutdowns
+sbi(DDRD,7);
+sbi(PORTD,4);
 uartInit();                       //init uarts
 uartSetBaudRate(0,4800);          //GPS+radio
@@ Line 310: / Line 383: @@
 printf("initialisation complete, bye\r\n");
 }
@@ Line 531: / Line 605: @@
   }
   pwmpitch=(pitchrunningaverage*PP)+(deltapitchrunningaverage*DP)+(pitchintegral*IP);
-  pwmroll=(rollrunningaverage*PR)+(rollrunningaverage*DR)+(rollintegral*IR)+tweakfactor;
+  pwmroll=(rollrunningaverage*PR)+(deltarollrunningaverage*DR)+(rollintegral*IR)+tweakfactor;
   servoa=trimAgain*(pwmpitch+pwmroll)+trimAbias;                                    // V tail mixing in SW
   if (servoa>(trimAbias+limitA))