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--- code:parafoil_v2 [2009/03/27 03:36] – created laurenceb
+++ code:parafoil_v2 [2009/03/27 03:37] (current) – laurenceb
@@ Line 1: / Line 1: @@
+===== Main code =====
 <code c>
 //UAV parafoil main code
@@ Line 799: / Line 801: @@
 }
+</code>
+===== header =====
+<code c>
+#include "global.h"
+#include "avrlibdefs.h"
+#include "avrlibtypes.h"
+#include "matrix.h"
+#include "kalman.h"
+#include "TSIP.h"
+#include "rprintf.h"
+#include "i2cmem.h"
+#include <avr/io.h>
+#include <stdlib.h>
+#include <math.h>
+#include <avr/interrupt.h>
+#include <avr/wdt.h>
+#include <util/delay_basic.h>
+#include <avr/eeprom.h>
+#include <avr/pgmspace.h>
+#define BAUDRATE (int)9600						//9600 baud for lassen iq
+#define DELTA_TIME (float)0.02					//20ms
+#define DELAY _delay_loop_2((u16)((float)F_CPU/(4.0*(float)BAUDRATE)))	//delay for suart routine
+#define SET	PORTD |= 0x10						//PORTD.4 is the tx
+#define CLEAR PORTD &= ~0x10
+//kalman filter - NOTE: these constants are airframe specific
+#define DAMPING_CONSTANT (float)0.3				//approx how fast oscillations die down as faction per second
+#define CONTROL (float)0.75						//full control input of 1 gives ~ this turn rate
+#define CONTROL_GAIN (DAMPING_CONSTANT*CONTROL)	//as used in the kalman filter
+#define TOP_COUNT (u16)((float)F_CPU*DELTA_TIME/8.0)	//timer1 pwm frequency
+#define PWM_COUNT_TIME (u16)((float)F_CPU*0.0005/8.0)	//500us
+#define I_C -0.00037							//control loop
+#define P_C -0.25								//values from previous accomodated for 20/16ms,+-1servo input,1:3.5 gearing
+#define D_C -0.35								//and made 30% less agressive
+#define R_C -0.0005								//new rate integral term, saturates after ~6 turns
+#define INTEGRAL_LIMIT -0.2/I_C					//integral servo shift limited to 1/5 of full scale range
+#define RATE_INTEGRAL_LIMIT -0.4/I_C
+//-we are now using flight data and descent valiable is a macro
+#define DESCENT_CONSTANT 2.46e-8
+#define read_rate (u08)0b10010100				//gyro specific
+#define read_temp (u08)0b10011100
+#define read_melexis (u08)0x80
+#define gyro_null 1022
+#define altitudelimit 5000						//flight termination conditions
+#define timelimit 3600							//NOTE: for flight (this is in seconds)
+#define targeteast (float)(-0.096236*Deg2rad)	//target waypoint -> EARS, track in front of launch area
+#define targetnorth (float)(52.25106*Deg2rad)
+#define Rad2deg 180.0/PI						//bloody obvious
+#define Deg2rad PI/180.0
+#define PRINT_COMMA rprintfChar(pgm_read_byte(&comma))	//prints a comma
+#define battery_factor (float)0.02505			//for measuring battery voltage- checked from test
+#define battery_chan 0x00						//ADC0
+#define TOGGLE_PIN PIND=0x20					//led on port D.5
+#define BAUDDIV  (u16)( ((float)F_CPU/(BAUDRATE*16UL)) -1 )//baud divider
+#define RADIO_CTS bit_is_set(PIND,2)			//hardware, however its wired up
+#define LED_LEFT PORTC = ((PORTC & ~0x0C) | 0x04)
+#define LED_RIGHT PORTC = ((PORTC & ~0x0C) | 0x08)
+#define USER_PRESENT !(PINC&0x02)
+#define CUTTER_ON PORTD|=(1<<7)					//release mechanism (hot resistor off mosfet)
+#define CUTTER_OFF PORTD&=~(1<<7)
+#define DISABLE_SMPS PORTD|=(1<<6)				//turns the SMPS for the servo on/off - never send pwm if its off
+#define ENABLE_SMPS PORTD&=~(1<<6)
+#define GYRO_OFF PORTB|=1<<1					//SS line
+#define GYRO_ON PORTB&=~(1<<1)
+#ifdef ADCSRA
+	#ifndef ADCSR
+		#define ADCSR   ADCSRA
+	#endif
+#endif
+#ifdef ADATE
+	#define ADFR    ADATE
+#endif
+#ifdef GROUND
+	void enable_ground_control();								//enables the input capture interrupt
+	void disable_ground_control();								//disables input capture interrupt
+	#define PULSE_MIN (u16)(0.0008*(float)F_CPU/8.0)			//pwm must be in the range 0.8 to 2.2 ms
+	#define PULSE_MAX (u16)(0.0022*(float)F_CPU/8.0)			//due to the bit shift we divide by 16
+	#define GROUND_LED_ON PORTD|=(1<<3)
+	#define GROUND_LED_OFF PORTD&=~(1<<3)
+	#define GROUND_LED_SET PORTD&(1<<3)
+	void run_ground_control();
+#endif
+typedef struct
+{
+	float vup;
+	float vnorth;
+	float veast;
+	float time;
+	float altitude;
+	float longitude;
+	float latitude;
+	u08 packetflag;								//packetflag lets us see when our packet has been updated
+	u08 status;
+	u08 nosats;
+} gps_type;
+void put_char(unsigned char c);							//talk to the UART
+void suart_send(char c);
+void run_ground_control();
+void _delay_10ms(char time);
+float driftfactor(int altitude);
+u08 I2Cdataprint(u32* I2Caddress);
 </code>