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1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
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3 | // + only for non-profit use |
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4 | // + www.MikroKopter.com |
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5 | // + see the File "License.txt" for further Informations |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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7 | |||
8 | #include "main.h" |
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9 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
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1166 | hbuss | 10 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
11 | volatile int HiResNick = 2500, HiResRoll = 2500; |
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380 | hbuss | 12 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
13 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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1166 | hbuss | 14 | volatile char messanzahl_AccHoch = 0; |
1 | ingob | 15 | volatile long Luftdruck = 32000; |
1322 | hbuss | 16 | volatile long SummenHoehe = 0; |
1 | ingob | 17 | volatile int StartLuftdruck; |
18 | volatile unsigned int MessLuftdruck = 1023; |
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19 | unsigned char DruckOffsetSetting; |
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1036 | hbuss | 20 | signed char ExpandBaro = 0; |
1253 | killagreg | 21 | volatile int VarioMeter = 0; |
1 | ingob | 22 | volatile unsigned int ZaehlMessungen = 0; |
918 | hbuss | 23 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
24 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
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1168 | hbuss | 25 | volatile unsigned char AdReady = 1; |
1 | ingob | 26 | //####################################################################################### |
27 | // |
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28 | void ADC_Init(void) |
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29 | //####################################################################################### |
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1246 | killagreg | 30 | { |
1 | ingob | 31 | ADMUX = 0;//Referenz ist extern |
1155 | hbuss | 32 | ANALOG_ON; |
1 | ingob | 33 | } |
34 | |||
1322 | hbuss | 35 | #define DESIRED_H_ADC 850 |
36 | |||
1 | ingob | 37 | void SucheLuftruckOffset(void) |
38 | { |
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39 | unsigned int off; |
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173 | holgerb | 40 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
41 | if(off > 20) off -= 10; |
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42 | OCR0A = off; |
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1036 | hbuss | 43 | ExpandBaro = 0; |
380 | hbuss | 44 | Delay_ms_Mess(100); |
1322 | hbuss | 45 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
173 | holgerb | 46 | for(; off < 250;off++) |
1 | ingob | 47 | { |
48 | OCR0A = off; |
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380 | hbuss | 49 | Delay_ms_Mess(50); |
1246 | killagreg | 50 | printf("."); |
1322 | hbuss | 51 | if(MessLuftdruck < DESIRED_H_ADC) break; |
1 | ingob | 52 | } |
173 | holgerb | 53 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
54 | DruckOffsetSetting = off; |
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380 | hbuss | 55 | Delay_ms_Mess(300); |
1 | ingob | 56 | } |
57 | |||
918 | hbuss | 58 | void SucheGyroOffset(void) |
59 | { |
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60 | unsigned char i, ready = 0; |
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1219 | hbuss | 61 | int timeout; |
918 | hbuss | 62 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
1219 | hbuss | 63 | timeout = SetDelay(2000); |
918 | hbuss | 64 | for(i=140; i != 0; i--) |
65 | { |
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921 | hbuss | 66 | if(ready == 3 && i > 10) i = 9; |
918 | hbuss | 67 | ready = 0; |
68 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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69 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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70 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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1246 | killagreg | 71 | twi_state = 8; |
72 | i2c_start(); |
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73 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
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74 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
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75 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
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1219 | hbuss | 76 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
1253 | killagreg | 77 | AdReady = 0; |
918 | hbuss | 78 | ANALOG_ON; |
1253 | killagreg | 79 | while(!AdReady); |
1246 | killagreg | 80 | if(i<10) Delay_ms_Mess(10); |
918 | hbuss | 81 | } |
1246 | killagreg | 82 | Delay_ms_Mess(70); |
83 | } |
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1 | ingob | 84 | |
1171 | hbuss | 85 | /* |
86 | |||
87 | 1 r |
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1246 | killagreg | 88 | 2 g |
1171 | hbuss | 89 | 3 y |
90 | 4 x |
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91 | 5 n |
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92 | 6 r |
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93 | 7 u |
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94 | 8 z |
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95 | 9 L |
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1246 | killagreg | 96 | 10 n |
1171 | hbuss | 97 | 11 r |
98 | 12 g |
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99 | 13 y |
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100 | 14 x |
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101 | 15 n |
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102 | 16 r |
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103 | 17 L |
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104 | */ |
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105 | |||
1 | ingob | 106 | //####################################################################################### |
107 | // |
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108 | SIGNAL(SIG_ADC) |
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109 | //####################################################################################### |
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110 | { |
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111 | static unsigned char kanal=0,state = 0; |
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1246 | killagreg | 112 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
1171 | hbuss | 113 | static signed int accy, accx; |
1253 | killagreg | 114 | |
115 | static long tmpLuftdruck = 0; |
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116 | static char messanzahl_Druck = 0; |
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1171 | hbuss | 117 | switch(state++) |
118 | { |
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119 | case 0: |
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120 | nick1 = ADC; |
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121 | kanal = AD_ROLL; |
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122 | break; |
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123 | case 1: |
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124 | roll1 = ADC; |
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125 | kanal = AD_GIER; |
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126 | break; |
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127 | case 2: |
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128 | gier1 = ADC; |
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129 | kanal = AD_ACC_Y; |
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130 | break; |
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131 | case 3: |
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132 | Aktuell_ay = NeutralAccY - ADC; |
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133 | accy = Aktuell_ay; |
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134 | kanal = AD_ACC_X; |
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135 | break; |
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136 | case 4: |
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137 | Aktuell_ax = ADC - NeutralAccX; |
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138 | accx = Aktuell_ax; |
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139 | kanal = AD_NICK; |
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140 | break; |
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141 | case 5: |
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142 | nick1 += ADC; |
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143 | kanal = AD_ROLL; |
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144 | break; |
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145 | case 6: |
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146 | roll1 += ADC; |
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147 | kanal = AD_UBAT; |
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148 | break; |
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149 | case 7: |
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150 | UBat = (3 * UBat + ADC / 3) / 4; |
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151 | kanal = AD_ACC_Z; |
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152 | break; |
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153 | case 8: |
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154 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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1246 | killagreg | 155 | if(AdWertAccHoch > 1) |
1171 | hbuss | 156 | { |
1246 | killagreg | 157 | if(NeutralAccZ < 750) |
1171 | hbuss | 158 | { |
1246 | killagreg | 159 | NeutralAccZ += 0.02; |
160 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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161 | } |
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162 | } |
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1171 | hbuss | 163 | else if(AdWertAccHoch < -1) |
164 | { |
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1246 | killagreg | 165 | if(NeutralAccZ > 550) |
1171 | hbuss | 166 | { |
167 | NeutralAccZ-= 0.02; |
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1246 | killagreg | 168 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
169 | } |
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170 | } |
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1171 | hbuss | 171 | messanzahl_AccHoch = 1; |
172 | Aktuell_az = ADC; |
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173 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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174 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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175 | kanal = AD_DRUCK; |
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176 | break; |
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177 | // "case 8:" fehlt hier absichtlich |
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178 | case 10: |
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179 | nick1 += ADC; |
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180 | kanal = AD_ROLL; |
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181 | break; |
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182 | case 11: |
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183 | roll1 += ADC; |
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184 | kanal = AD_GIER; |
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185 | break; |
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186 | case 12: |
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187 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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1246 | killagreg | 188 | else |
1171 | hbuss | 189 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
190 | else AdWertGier = (ADC + gier1); |
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191 | kanal = AD_ACC_Y; |
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192 | break; |
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193 | case 13: |
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194 | Aktuell_ay = NeutralAccY - ADC; |
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195 | AdWertAccRoll = (Aktuell_ay + accy); |
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196 | kanal = AD_ACC_X; |
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197 | break; |
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198 | case 14: |
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199 | Aktuell_ax = ADC - NeutralAccX; |
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200 | AdWertAccNick = (Aktuell_ax + accx); |
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201 | kanal = AD_NICK; |
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202 | break; |
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203 | case 15: |
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204 | nick1 += ADC; |
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1173 | hbuss | 205 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
206 | AdWertNick = nick1 / 8; |
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207 | nick_filter = (nick_filter + nick1) / 2; |
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208 | HiResNick = nick_filter - AdNeutralNick; |
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1171 | hbuss | 209 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
210 | kanal = AD_ROLL; |
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211 | break; |
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212 | case 16: |
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213 | roll1 += ADC; |
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1173 | hbuss | 214 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
215 | AdWertRoll = roll1 / 8; |
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216 | roll_filter = (roll_filter + roll1) / 2; |
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217 | HiResRoll = roll_filter - AdNeutralRoll; |
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1171 | hbuss | 218 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
219 | kanal = AD_DRUCK; |
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220 | break; |
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221 | case 17: |
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222 | state = 0; |
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223 | AdReady = 1; |
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224 | ZaehlMessungen++; |
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225 | // "break" fehlt hier absichtlich |
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226 | case 9: |
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1253 | killagreg | 227 | MessLuftdruck = ADC; |
228 | tmpLuftdruck += MessLuftdruck; |
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229 | if(++messanzahl_Druck >= 18) |
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230 | { |
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1266 | killagreg | 231 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
1253 | killagreg | 232 | HoehenWert = StartLuftdruck - Luftdruck; |
1272 | hbuss | 233 | SummenHoehe -= SummenHoehe/SM_FILTER; |
1253 | killagreg | 234 | SummenHoehe += HoehenWert; |
1272 | hbuss | 235 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
236 | tmpLuftdruck /= 2; |
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237 | messanzahl_Druck = 18/2; |
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1253 | killagreg | 238 | } |
1171 | hbuss | 239 | kanal = AD_NICK; |
240 | break; |
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1246 | killagreg | 241 | default: |
1171 | hbuss | 242 | kanal = 0; state = 0; kanal = AD_NICK; |
243 | break; |
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1246 | killagreg | 244 | } |
1171 | hbuss | 245 | ADMUX = kanal; |
246 | if(state != 0) ANALOG_ON; |
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1320 | hbuss | 247 | |
1171 | hbuss | 248 | } |
249 | |||
250 | |||
251 | |||
252 | /* |
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253 | //####################################################################################### |
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254 | // |
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255 | SIGNAL(SIG_ADC) |
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256 | //####################################################################################### |
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257 | { |
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258 | static unsigned char kanal=0,state = 0; |
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1166 | hbuss | 259 | static signed int gier1, roll1, nick1; |
1246 | killagreg | 260 | static signed long nick_filter, roll_filter; |
1166 | hbuss | 261 | static signed int accy, accx; |
262 | switch(state++) |
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263 | { |
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264 | case 0: |
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265 | nick1 = ADC; |
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266 | kanal = AD_ROLL; |
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267 | break; |
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268 | case 1: |
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269 | roll1 = ADC; |
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270 | kanal = AD_GIER; |
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271 | break; |
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272 | case 2: |
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273 | gier1 = ADC; |
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274 | kanal = AD_ACC_Y; |
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275 | break; |
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276 | case 3: |
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277 | Aktuell_ay = NeutralAccY - ADC; |
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278 | accy = Aktuell_ay; |
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279 | kanal = AD_NICK; |
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280 | break; |
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281 | case 4: |
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282 | nick1 += ADC; |
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283 | kanal = AD_ROLL; |
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284 | break; |
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285 | case 5: |
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286 | roll1 += ADC; |
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287 | kanal = AD_ACC_Z; |
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288 | break; |
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289 | case 6: |
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290 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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1246 | killagreg | 291 | if(AdWertAccHoch > 1) |
1166 | hbuss | 292 | { |
1246 | killagreg | 293 | if(NeutralAccZ < 750) |
1166 | hbuss | 294 | { |
1246 | killagreg | 295 | NeutralAccZ += 0.02; |
296 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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297 | } |
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298 | } |
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1166 | hbuss | 299 | else if(AdWertAccHoch < -1) |
300 | { |
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1246 | killagreg | 301 | if(NeutralAccZ > 550) |
1166 | hbuss | 302 | { |
303 | NeutralAccZ-= 0.02; |
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1246 | killagreg | 304 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
305 | } |
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306 | } |
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1166 | hbuss | 307 | messanzahl_AccHoch = 1; |
308 | Aktuell_az = ADC; |
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309 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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310 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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311 | kanal = AD_NICK; |
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312 | break; |
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313 | case 7: |
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314 | nick1 += ADC; |
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315 | kanal = AD_ROLL; |
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316 | break; |
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317 | case 8: |
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318 | roll1 += ADC; |
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319 | kanal = AD_ACC_X; |
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320 | break; |
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321 | case 9: |
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322 | Aktuell_ax = ADC - NeutralAccX; |
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323 | accx = Aktuell_ax; |
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324 | kanal = AD_GIER; |
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325 | break; |
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326 | case 10: |
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327 | gier1 += ADC; |
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328 | kanal = AD_NICK; |
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329 | break; |
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330 | case 11: |
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331 | nick1 += ADC; |
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332 | kanal = AD_ROLL; |
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333 | break; |
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334 | case 12: |
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335 | roll1 += ADC; |
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336 | kanal = AD_UBAT; |
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337 | break; |
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338 | case 13: |
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339 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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340 | kanal = AD_ACC_Y; |
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341 | break; |
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342 | case 14: |
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343 | Aktuell_ay = NeutralAccY - ADC; |
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344 | accy += Aktuell_ay; |
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345 | kanal = AD_NICK; |
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346 | break; |
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347 | case 15: |
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348 | nick1 += ADC; |
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349 | kanal = AD_ROLL; |
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350 | break; |
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351 | case 16: |
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352 | roll1 += ADC; |
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353 | kanal = AD_ACC_X; |
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354 | break; |
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355 | case 17: |
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356 | Aktuell_ax = ADC - NeutralAccX; |
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357 | accx += Aktuell_ax; |
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358 | kanal = AD_NICK; |
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359 | break; |
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360 | case 18: |
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361 | nick1 += ADC; |
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362 | kanal = AD_ROLL; |
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363 | break; |
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364 | case 19: |
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365 | roll1 += ADC; |
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366 | kanal = AD_GIER; |
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367 | break; |
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368 | case 20: |
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369 | gier1 += ADC; |
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370 | kanal = AD_ACC_Y; |
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371 | break; |
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372 | case 21: |
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373 | Aktuell_ay = NeutralAccY - ADC; |
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374 | accy += Aktuell_ay; |
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375 | kanal = AD_NICK; |
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376 | break; |
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377 | case 22: |
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378 | nick1 += ADC; |
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379 | kanal = AD_ROLL; |
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380 | break; |
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381 | case 23: |
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382 | roll1 += ADC; |
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383 | kanal = AD_DRUCK; |
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384 | break; |
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385 | case 24: |
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386 | tmpLuftdruck += ADC; |
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1246 | killagreg | 387 | if(++messanzahl_Druck >= 5) |
1166 | hbuss | 388 | { |
389 | MessLuftdruck = ADC; |
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390 | messanzahl_Druck = 0; |
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1167 | hbuss | 391 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
1166 | hbuss | 392 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
393 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
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394 | tmpLuftdruck = 0; |
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1246 | killagreg | 395 | } |
1166 | hbuss | 396 | kanal = AD_NICK; |
397 | break; |
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398 | case 25: |
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399 | nick1 += ADC; |
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400 | kanal = AD_ROLL; |
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401 | break; |
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402 | case 26: |
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403 | roll1 += ADC; |
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404 | kanal = AD_ACC_X; |
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405 | break; |
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406 | case 27: |
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407 | Aktuell_ax = ADC - NeutralAccX; |
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408 | accx += Aktuell_ax; |
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409 | kanal = AD_GIER; |
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410 | break; |
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411 | case 28: |
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412 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
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1246 | killagreg | 413 | else |
1166 | hbuss | 414 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
415 | else AdWertGier = (ADC + gier1 + 1) / 2; |
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416 | kanal = AD_NICK; |
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417 | break; |
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418 | case 29: |
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419 | nick1 += ADC; |
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420 | kanal = AD_ROLL; |
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421 | break; |
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422 | case 30: |
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423 | roll1 += ADC; |
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424 | kanal = AD_ACC_Y; |
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425 | break; |
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426 | case 31: |
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427 | Aktuell_ay = NeutralAccY - ADC; |
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428 | AdWertAccRoll = (Aktuell_ay + accy); |
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429 | kanal = AD_NICK; |
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430 | break; |
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431 | case 32: |
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432 | AdWertNick = (ADC + nick1 + 3) / 5; |
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433 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
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434 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
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435 | HiResNick = nick_filter - 20 * AdNeutralNick; |
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436 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
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1246 | killagreg | 437 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
1166 | hbuss | 438 | kanal = AD_ROLL; |
439 | break; |
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440 | case 33: |
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441 | AdWertRoll = (ADC + roll1 + 3) / 5; |
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442 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
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443 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
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444 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
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445 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
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446 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
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447 | kanal = AD_ACC_X; |
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448 | break; |
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449 | case 34: |
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450 | Aktuell_ax = ADC - NeutralAccX; |
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451 | AdWertAccNick = (Aktuell_ax + accx); |
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452 | kanal = AD_NICK; |
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453 | state = 0; |
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454 | AdReady = 1; |
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455 | ZaehlMessungen++; |
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456 | break; |
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1246 | killagreg | 457 | default: |
1166 | hbuss | 458 | kanal = 0; |
459 | state = 0; |
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460 | break; |
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1246 | killagreg | 461 | } |
1166 | hbuss | 462 | ADMUX = kanal; |
463 | if(state != 0) ANALOG_ON; |
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464 | } |
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1171 | hbuss | 465 | */ |