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Rev | Author | Line No. | Line |
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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1338 | ingob | 2 | // + Copyright (c) Holger Buss, Ingo Busker |
1 | ingob | 3 | // + only for non-profit use |
4 | // + www.MikroKopter.com |
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1356 | hbuss | 5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
1 | ingob | 6 | // + see the File "License.txt" for further Informations |
7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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8 | |||
9 | #include "main.h" |
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10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
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1166 | hbuss | 11 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
12 | volatile int HiResNick = 2500, HiResRoll = 2500; |
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380 | hbuss | 13 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
14 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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1166 | hbuss | 15 | volatile char messanzahl_AccHoch = 0; |
1 | ingob | 16 | volatile long Luftdruck = 32000; |
1322 | hbuss | 17 | volatile long SummenHoehe = 0; |
1 | ingob | 18 | volatile int StartLuftdruck; |
19 | volatile unsigned int MessLuftdruck = 1023; |
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20 | unsigned char DruckOffsetSetting; |
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1036 | hbuss | 21 | signed char ExpandBaro = 0; |
1253 | killagreg | 22 | volatile int VarioMeter = 0; |
1 | ingob | 23 | volatile unsigned int ZaehlMessungen = 0; |
918 | hbuss | 24 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
25 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
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1168 | hbuss | 26 | volatile unsigned char AdReady = 1; |
1 | ingob | 27 | //####################################################################################### |
28 | // |
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29 | void ADC_Init(void) |
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30 | //####################################################################################### |
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1246 | killagreg | 31 | { |
1 | ingob | 32 | ADMUX = 0;//Referenz ist extern |
1155 | hbuss | 33 | ANALOG_ON; |
1 | ingob | 34 | } |
35 | |||
1352 | hbuss | 36 | #define DESIRED_H_ADC 800 |
1322 | hbuss | 37 | |
1 | ingob | 38 | void SucheLuftruckOffset(void) |
39 | { |
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40 | unsigned int off; |
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173 | holgerb | 41 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
42 | if(off > 20) off -= 10; |
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43 | OCR0A = off; |
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1036 | hbuss | 44 | ExpandBaro = 0; |
380 | hbuss | 45 | Delay_ms_Mess(100); |
1322 | hbuss | 46 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
173 | holgerb | 47 | for(; off < 250;off++) |
1 | ingob | 48 | { |
49 | OCR0A = off; |
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380 | hbuss | 50 | Delay_ms_Mess(50); |
1246 | killagreg | 51 | printf("."); |
1322 | hbuss | 52 | if(MessLuftdruck < DESIRED_H_ADC) break; |
1 | ingob | 53 | } |
173 | holgerb | 54 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
55 | DruckOffsetSetting = off; |
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380 | hbuss | 56 | Delay_ms_Mess(300); |
1 | ingob | 57 | } |
58 | |||
918 | hbuss | 59 | void SucheGyroOffset(void) |
60 | { |
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61 | unsigned char i, ready = 0; |
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1219 | hbuss | 62 | int timeout; |
918 | hbuss | 63 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
1219 | hbuss | 64 | timeout = SetDelay(2000); |
918 | hbuss | 65 | for(i=140; i != 0; i--) |
66 | { |
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921 | hbuss | 67 | if(ready == 3 && i > 10) i = 9; |
918 | hbuss | 68 | ready = 0; |
69 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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70 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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71 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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1246 | killagreg | 72 | twi_state = 8; |
73 | i2c_start(); |
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74 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
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75 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
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76 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
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1219 | hbuss | 77 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
1253 | killagreg | 78 | AdReady = 0; |
918 | hbuss | 79 | ANALOG_ON; |
1253 | killagreg | 80 | while(!AdReady); |
1246 | killagreg | 81 | if(i<10) Delay_ms_Mess(10); |
918 | hbuss | 82 | } |
1246 | killagreg | 83 | Delay_ms_Mess(70); |
84 | } |
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1 | ingob | 85 | |
1171 | hbuss | 86 | /* |
87 | |||
88 | 1 r |
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1246 | killagreg | 89 | 2 g |
1171 | hbuss | 90 | 3 y |
91 | 4 x |
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92 | 5 n |
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93 | 6 r |
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94 | 7 u |
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95 | 8 z |
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96 | 9 L |
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1246 | killagreg | 97 | 10 n |
1171 | hbuss | 98 | 11 r |
99 | 12 g |
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100 | 13 y |
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101 | 14 x |
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102 | 15 n |
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103 | 16 r |
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104 | 17 L |
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105 | */ |
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106 | |||
1 | ingob | 107 | //####################################################################################### |
108 | // |
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1561 | killagreg | 109 | ISR(ADC_vect) |
1 | ingob | 110 | //####################################################################################### |
111 | { |
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112 | static unsigned char kanal=0,state = 0; |
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1246 | killagreg | 113 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
1171 | hbuss | 114 | static signed int accy, accx; |
1253 | killagreg | 115 | |
116 | static long tmpLuftdruck = 0; |
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117 | static char messanzahl_Druck = 0; |
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1171 | hbuss | 118 | switch(state++) |
119 | { |
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120 | case 0: |
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121 | nick1 = ADC; |
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122 | kanal = AD_ROLL; |
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123 | break; |
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124 | case 1: |
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125 | roll1 = ADC; |
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126 | kanal = AD_GIER; |
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127 | break; |
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128 | case 2: |
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129 | gier1 = ADC; |
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130 | kanal = AD_ACC_Y; |
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131 | break; |
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132 | case 3: |
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133 | Aktuell_ay = NeutralAccY - ADC; |
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134 | accy = Aktuell_ay; |
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135 | kanal = AD_ACC_X; |
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136 | break; |
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137 | case 4: |
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138 | Aktuell_ax = ADC - NeutralAccX; |
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139 | accx = Aktuell_ax; |
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140 | kanal = AD_NICK; |
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141 | break; |
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142 | case 5: |
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143 | nick1 += ADC; |
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144 | kanal = AD_ROLL; |
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145 | break; |
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146 | case 6: |
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147 | roll1 += ADC; |
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148 | kanal = AD_UBAT; |
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149 | break; |
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150 | case 7: |
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151 | UBat = (3 * UBat + ADC / 3) / 4; |
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152 | kanal = AD_ACC_Z; |
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153 | break; |
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154 | case 8: |
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155 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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1604 | MartinR | 156 | /* // MartinR: deaktiviert |
1246 | killagreg | 157 | if(AdWertAccHoch > 1) |
1171 | hbuss | 158 | { |
1246 | killagreg | 159 | if(NeutralAccZ < 750) |
1171 | hbuss | 160 | { |
1246 | killagreg | 161 | NeutralAccZ += 0.02; |
162 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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163 | } |
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164 | } |
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1171 | hbuss | 165 | else if(AdWertAccHoch < -1) |
166 | { |
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1246 | killagreg | 167 | if(NeutralAccZ > 550) |
1171 | hbuss | 168 | { |
169 | NeutralAccZ-= 0.02; |
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1246 | killagreg | 170 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
171 | } |
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172 | } |
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1604 | MartinR | 173 | */ // MartinR: deaktiviert Ende |
174 | |||
1171 | hbuss | 175 | messanzahl_AccHoch = 1; |
176 | Aktuell_az = ADC; |
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177 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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178 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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179 | kanal = AD_DRUCK; |
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180 | break; |
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181 | // "case 8:" fehlt hier absichtlich |
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182 | case 10: |
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183 | nick1 += ADC; |
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184 | kanal = AD_ROLL; |
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185 | break; |
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186 | case 11: |
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187 | roll1 += ADC; |
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188 | kanal = AD_GIER; |
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189 | break; |
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190 | case 12: |
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191 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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1246 | killagreg | 192 | else |
1171 | hbuss | 193 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
194 | else AdWertGier = (ADC + gier1); |
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195 | kanal = AD_ACC_Y; |
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196 | break; |
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197 | case 13: |
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198 | Aktuell_ay = NeutralAccY - ADC; |
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199 | AdWertAccRoll = (Aktuell_ay + accy); |
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200 | kanal = AD_ACC_X; |
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201 | break; |
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202 | case 14: |
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203 | Aktuell_ax = ADC - NeutralAccX; |
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204 | AdWertAccNick = (Aktuell_ax + accx); |
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205 | kanal = AD_NICK; |
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206 | break; |
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207 | case 15: |
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208 | nick1 += ADC; |
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1173 | hbuss | 209 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
210 | AdWertNick = nick1 / 8; |
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211 | nick_filter = (nick_filter + nick1) / 2; |
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212 | HiResNick = nick_filter - AdNeutralNick; |
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1171 | hbuss | 213 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
214 | kanal = AD_ROLL; |
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215 | break; |
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216 | case 16: |
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217 | roll1 += ADC; |
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1173 | hbuss | 218 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
219 | AdWertRoll = roll1 / 8; |
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220 | roll_filter = (roll_filter + roll1) / 2; |
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221 | HiResRoll = roll_filter - AdNeutralRoll; |
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1171 | hbuss | 222 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
223 | kanal = AD_DRUCK; |
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224 | break; |
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225 | case 17: |
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226 | state = 0; |
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227 | AdReady = 1; |
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228 | ZaehlMessungen++; |
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229 | // "break" fehlt hier absichtlich |
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230 | case 9: |
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1253 | killagreg | 231 | MessLuftdruck = ADC; |
232 | tmpLuftdruck += MessLuftdruck; |
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233 | if(++messanzahl_Druck >= 18) |
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234 | { |
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1266 | killagreg | 235 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
1253 | killagreg | 236 | HoehenWert = StartLuftdruck - Luftdruck; |
1272 | hbuss | 237 | SummenHoehe -= SummenHoehe/SM_FILTER; |
1253 | killagreg | 238 | SummenHoehe += HoehenWert; |
1272 | hbuss | 239 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
240 | tmpLuftdruck /= 2; |
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241 | messanzahl_Druck = 18/2; |
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1253 | killagreg | 242 | } |
1171 | hbuss | 243 | kanal = AD_NICK; |
244 | break; |
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1246 | killagreg | 245 | default: |
1171 | hbuss | 246 | kanal = 0; state = 0; kanal = AD_NICK; |
247 | break; |
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1246 | killagreg | 248 | } |
1171 | hbuss | 249 | ADMUX = kanal; |
250 | if(state != 0) ANALOG_ON; |
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1320 | hbuss | 251 | |
1171 | hbuss | 252 | } |
253 | |||
254 | |||
255 | |||
256 | /* |
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257 | //####################################################################################### |
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258 | // |
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259 | SIGNAL(SIG_ADC) |
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260 | //####################################################################################### |
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261 | { |
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262 | static unsigned char kanal=0,state = 0; |
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1166 | hbuss | 263 | static signed int gier1, roll1, nick1; |
1246 | killagreg | 264 | static signed long nick_filter, roll_filter; |
1166 | hbuss | 265 | static signed int accy, accx; |
266 | switch(state++) |
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267 | { |
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268 | case 0: |
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269 | nick1 = ADC; |
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270 | kanal = AD_ROLL; |
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271 | break; |
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272 | case 1: |
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273 | roll1 = ADC; |
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274 | kanal = AD_GIER; |
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275 | break; |
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276 | case 2: |
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277 | gier1 = ADC; |
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278 | kanal = AD_ACC_Y; |
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279 | break; |
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280 | case 3: |
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281 | Aktuell_ay = NeutralAccY - ADC; |
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282 | accy = Aktuell_ay; |
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283 | kanal = AD_NICK; |
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284 | break; |
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285 | case 4: |
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286 | nick1 += ADC; |
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287 | kanal = AD_ROLL; |
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288 | break; |
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289 | case 5: |
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290 | roll1 += ADC; |
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291 | kanal = AD_ACC_Z; |
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292 | break; |
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293 | case 6: |
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294 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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1246 | killagreg | 295 | if(AdWertAccHoch > 1) |
1166 | hbuss | 296 | { |
1246 | killagreg | 297 | if(NeutralAccZ < 750) |
1166 | hbuss | 298 | { |
1246 | killagreg | 299 | NeutralAccZ += 0.02; |
300 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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301 | } |
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302 | } |
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1166 | hbuss | 303 | else if(AdWertAccHoch < -1) |
304 | { |
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1246 | killagreg | 305 | if(NeutralAccZ > 550) |
1166 | hbuss | 306 | { |
307 | NeutralAccZ-= 0.02; |
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1246 | killagreg | 308 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
309 | } |
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310 | } |
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1166 | hbuss | 311 | messanzahl_AccHoch = 1; |
312 | Aktuell_az = ADC; |
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313 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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314 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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315 | kanal = AD_NICK; |
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316 | break; |
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317 | case 7: |
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318 | nick1 += ADC; |
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319 | kanal = AD_ROLL; |
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320 | break; |
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321 | case 8: |
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322 | roll1 += ADC; |
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323 | kanal = AD_ACC_X; |
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324 | break; |
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325 | case 9: |
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326 | Aktuell_ax = ADC - NeutralAccX; |
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327 | accx = Aktuell_ax; |
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328 | kanal = AD_GIER; |
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329 | break; |
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330 | case 10: |
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331 | gier1 += ADC; |
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332 | kanal = AD_NICK; |
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333 | break; |
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334 | case 11: |
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335 | nick1 += ADC; |
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336 | kanal = AD_ROLL; |
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337 | break; |
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338 | case 12: |
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339 | roll1 += ADC; |
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340 | kanal = AD_UBAT; |
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341 | break; |
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342 | case 13: |
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343 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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344 | kanal = AD_ACC_Y; |
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345 | break; |
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346 | case 14: |
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347 | Aktuell_ay = NeutralAccY - ADC; |
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348 | accy += Aktuell_ay; |
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349 | kanal = AD_NICK; |
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350 | break; |
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351 | case 15: |
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352 | nick1 += ADC; |
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353 | kanal = AD_ROLL; |
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354 | break; |
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355 | case 16: |
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356 | roll1 += ADC; |
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357 | kanal = AD_ACC_X; |
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358 | break; |
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359 | case 17: |
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360 | Aktuell_ax = ADC - NeutralAccX; |
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361 | accx += Aktuell_ax; |
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362 | kanal = AD_NICK; |
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363 | break; |
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364 | case 18: |
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365 | nick1 += ADC; |
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366 | kanal = AD_ROLL; |
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367 | break; |
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368 | case 19: |
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369 | roll1 += ADC; |
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370 | kanal = AD_GIER; |
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371 | break; |
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372 | case 20: |
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373 | gier1 += ADC; |
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374 | kanal = AD_ACC_Y; |
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375 | break; |
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376 | case 21: |
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377 | Aktuell_ay = NeutralAccY - ADC; |
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378 | accy += Aktuell_ay; |
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379 | kanal = AD_NICK; |
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380 | break; |
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381 | case 22: |
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382 | nick1 += ADC; |
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383 | kanal = AD_ROLL; |
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384 | break; |
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385 | case 23: |
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386 | roll1 += ADC; |
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387 | kanal = AD_DRUCK; |
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388 | break; |
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389 | case 24: |
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390 | tmpLuftdruck += ADC; |
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1246 | killagreg | 391 | if(++messanzahl_Druck >= 5) |
1166 | hbuss | 392 | { |
393 | MessLuftdruck = ADC; |
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394 | messanzahl_Druck = 0; |
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1167 | hbuss | 395 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
1166 | hbuss | 396 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
397 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
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398 | tmpLuftdruck = 0; |
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1246 | killagreg | 399 | } |
1166 | hbuss | 400 | kanal = AD_NICK; |
401 | break; |
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402 | case 25: |
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403 | nick1 += ADC; |
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404 | kanal = AD_ROLL; |
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405 | break; |
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406 | case 26: |
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407 | roll1 += ADC; |
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408 | kanal = AD_ACC_X; |
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409 | break; |
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410 | case 27: |
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411 | Aktuell_ax = ADC - NeutralAccX; |
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412 | accx += Aktuell_ax; |
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413 | kanal = AD_GIER; |
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414 | break; |
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415 | case 28: |
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416 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
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1246 | killagreg | 417 | else |
1166 | hbuss | 418 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
419 | else AdWertGier = (ADC + gier1 + 1) / 2; |
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420 | kanal = AD_NICK; |
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421 | break; |
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422 | case 29: |
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423 | nick1 += ADC; |
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424 | kanal = AD_ROLL; |
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425 | break; |
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426 | case 30: |
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427 | roll1 += ADC; |
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428 | kanal = AD_ACC_Y; |
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429 | break; |
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430 | case 31: |
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431 | Aktuell_ay = NeutralAccY - ADC; |
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432 | AdWertAccRoll = (Aktuell_ay + accy); |
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433 | kanal = AD_NICK; |
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434 | break; |
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435 | case 32: |
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436 | AdWertNick = (ADC + nick1 + 3) / 5; |
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437 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
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438 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
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439 | HiResNick = nick_filter - 20 * AdNeutralNick; |
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440 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
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1246 | killagreg | 441 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
1166 | hbuss | 442 | kanal = AD_ROLL; |
443 | break; |
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444 | case 33: |
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445 | AdWertRoll = (ADC + roll1 + 3) / 5; |
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446 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
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447 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
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448 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
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449 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
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450 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
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451 | kanal = AD_ACC_X; |
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452 | break; |
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453 | case 34: |
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454 | Aktuell_ax = ADC - NeutralAccX; |
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455 | AdWertAccNick = (Aktuell_ax + accx); |
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456 | kanal = AD_NICK; |
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457 | state = 0; |
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458 | AdReady = 1; |
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459 | ZaehlMessungen++; |
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460 | break; |
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1246 | killagreg | 461 | default: |
1166 | hbuss | 462 | kanal = 0; |
463 | state = 0; |
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464 | break; |
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1246 | killagreg | 465 | } |
1166 | hbuss | 466 | ADMUX = kanal; |
467 | if(state != 0) ANALOG_ON; |
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468 | } |
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1171 | hbuss | 469 | */ |