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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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1622 | killagreg | 10 | #include "eeprom.h" |
1 | ingob | 11 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
1166 | hbuss | 12 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
13 | volatile int HiResNick = 2500, HiResRoll = 2500; |
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380 | hbuss | 14 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
15 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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1166 | hbuss | 16 | volatile char messanzahl_AccHoch = 0; |
1 | ingob | 17 | volatile long Luftdruck = 32000; |
1322 | hbuss | 18 | volatile long SummenHoehe = 0; |
1 | ingob | 19 | volatile int StartLuftdruck; |
20 | volatile unsigned int MessLuftdruck = 1023; |
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21 | unsigned char DruckOffsetSetting; |
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1036 | hbuss | 22 | signed char ExpandBaro = 0; |
1253 | killagreg | 23 | volatile int VarioMeter = 0; |
1 | ingob | 24 | volatile unsigned int ZaehlMessungen = 0; |
918 | hbuss | 25 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
1168 | hbuss | 26 | volatile unsigned char AdReady = 1; |
1643 | holgerb | 27 | float NeutralAccZ_float; |
1 | ingob | 28 | //####################################################################################### |
29 | // |
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30 | void ADC_Init(void) |
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31 | //####################################################################################### |
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1246 | killagreg | 32 | { |
1 | ingob | 33 | ADMUX = 0;//Referenz ist extern |
1155 | hbuss | 34 | ANALOG_ON; |
1 | ingob | 35 | } |
36 | |||
1352 | hbuss | 37 | #define DESIRED_H_ADC 800 |
1322 | hbuss | 38 | |
1 | ingob | 39 | void SucheLuftruckOffset(void) |
40 | { |
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41 | unsigned int off; |
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1036 | hbuss | 42 | ExpandBaro = 0; |
1726 | holgerb | 43 | |
44 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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45 | { |
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46 | unsigned char off2; |
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47 | OCR0A = 150; |
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48 | off2 = GetParamByte(PID_PRESSURE_OFFSET); |
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49 | if(off2 < 230) off2 += 10; |
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50 | OCR0B = off2; |
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51 | Delay_ms_Mess(100); |
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52 | if(MessLuftdruck > DESIRED_H_ADC) off2 = 240; |
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53 | for(; off2 >= 5; off2 -= 5) |
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54 | { |
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55 | OCR0B = off2; |
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56 | Delay_ms_Mess(50); |
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57 | printf("*"); |
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58 | if(MessLuftdruck > DESIRED_H_ADC) break; |
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59 | } |
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60 | SetParamByte(PID_PRESSURE_OFFSET, off2); |
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61 | if(off2 >= 15) off = 140; else off = 0; |
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62 | for(; off < 250;off++) |
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63 | { |
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64 | OCR0A = off; |
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65 | Delay_ms_Mess(50); |
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66 | printf("."); |
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67 | if(MessLuftdruck < DESIRED_H_ADC) break; |
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68 | } |
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69 | DruckOffsetSetting = off; |
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70 | } |
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1765 | killagreg | 71 | #else |
1726 | holgerb | 72 | off = GetParamByte(PID_PRESSURE_OFFSET); |
73 | if(off > 20) off -= 10; |
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1 | ingob | 74 | OCR0A = off; |
1726 | holgerb | 75 | Delay_ms_Mess(100); |
76 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
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77 | for(; off < 250;off++) |
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78 | { |
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79 | OCR0A = off; |
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80 | Delay_ms_Mess(50); |
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81 | printf("."); |
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82 | if(MessLuftdruck < DESIRED_H_ADC) break; |
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83 | } |
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84 | DruckOffsetSetting = off; |
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85 | SetParamByte(PID_PRESSURE_OFFSET, off); |
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86 | #endif |
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1765 | killagreg | 87 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; |
1638 | holgerb | 88 | OCR0A = off; |
380 | hbuss | 89 | Delay_ms_Mess(300); |
1 | ingob | 90 | } |
91 | |||
1726 | holgerb | 92 | |
918 | hbuss | 93 | void SucheGyroOffset(void) |
94 | { |
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95 | unsigned char i, ready = 0; |
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1219 | hbuss | 96 | int timeout; |
97 | timeout = SetDelay(2000); |
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918 | hbuss | 98 | for(i=140; i != 0; i--) |
99 | { |
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921 | hbuss | 100 | if(ready == 3 && i > 10) i = 9; |
918 | hbuss | 101 | ready = 0; |
102 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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103 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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104 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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1662 | killagreg | 105 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
1765 | killagreg | 106 | if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;}; |
107 | if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;}; |
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108 | if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 245;}; |
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1219 | hbuss | 109 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
1253 | killagreg | 110 | AdReady = 0; |
918 | hbuss | 111 | ANALOG_ON; |
1253 | killagreg | 112 | while(!AdReady); |
1246 | killagreg | 113 | if(i<10) Delay_ms_Mess(10); |
918 | hbuss | 114 | } |
1246 | killagreg | 115 | Delay_ms_Mess(70); |
116 | } |
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1 | ingob | 117 | |
1171 | hbuss | 118 | /* |
119 | |||
120 | 1 r |
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1246 | killagreg | 121 | 2 g |
1171 | hbuss | 122 | 3 y |
123 | 4 x |
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124 | 5 n |
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125 | 6 r |
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126 | 7 u |
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127 | 8 z |
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128 | 9 L |
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1246 | killagreg | 129 | 10 n |
1171 | hbuss | 130 | 11 r |
131 | 12 g |
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132 | 13 y |
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133 | 14 x |
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134 | 15 n |
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135 | 16 r |
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136 | 17 L |
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137 | */ |
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138 | |||
1 | ingob | 139 | //####################################################################################### |
140 | // |
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1561 | killagreg | 141 | ISR(ADC_vect) |
1 | ingob | 142 | //####################################################################################### |
143 | { |
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144 | static unsigned char kanal=0,state = 0; |
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1687 | holgerb | 145 | static signed char subcount = 0; |
1246 | killagreg | 146 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
1687 | holgerb | 147 | static signed int accy, accx; |
1253 | killagreg | 148 | static long tmpLuftdruck = 0; |
149 | static char messanzahl_Druck = 0; |
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1171 | hbuss | 150 | switch(state++) |
151 | { |
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152 | case 0: |
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153 | nick1 = ADC; |
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154 | kanal = AD_ROLL; |
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155 | break; |
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156 | case 1: |
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157 | roll1 = ADC; |
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158 | kanal = AD_GIER; |
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159 | break; |
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160 | case 2: |
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161 | gier1 = ADC; |
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162 | kanal = AD_ACC_Y; |
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163 | break; |
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164 | case 3: |
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165 | Aktuell_ay = NeutralAccY - ADC; |
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166 | accy = Aktuell_ay; |
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167 | kanal = AD_ACC_X; |
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168 | break; |
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169 | case 4: |
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170 | Aktuell_ax = ADC - NeutralAccX; |
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171 | accx = Aktuell_ax; |
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172 | kanal = AD_NICK; |
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173 | break; |
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174 | case 5: |
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175 | nick1 += ADC; |
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176 | kanal = AD_ROLL; |
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177 | break; |
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178 | case 6: |
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179 | roll1 += ADC; |
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180 | kanal = AD_UBAT; |
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181 | break; |
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182 | case 7: |
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183 | UBat = (3 * UBat + ADC / 3) / 4; |
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184 | kanal = AD_ACC_Z; |
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185 | break; |
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186 | case 8: |
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187 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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1246 | killagreg | 188 | if(AdWertAccHoch > 1) |
1171 | hbuss | 189 | { |
1246 | killagreg | 190 | if(NeutralAccZ < 750) |
1171 | hbuss | 191 | { |
1695 | holgerb | 192 | subcount += 5; |
1701 | holgerb | 193 | if(modell_fliegt < 500) subcount += 10; |
1639 | holgerb | 194 | } |
1687 | holgerb | 195 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
1639 | holgerb | 196 | } |
197 | else if(AdWertAccHoch < -1) |
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198 | { |
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199 | if(NeutralAccZ > 550) |
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200 | { |
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1695 | holgerb | 201 | subcount -= 5; |
1701 | holgerb | 202 | if(modell_fliegt < 500) subcount -= 10; |
1687 | holgerb | 203 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
1639 | holgerb | 204 | } |
205 | } |
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1171 | hbuss | 206 | messanzahl_AccHoch = 1; |
207 | Aktuell_az = ADC; |
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208 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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209 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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210 | kanal = AD_DRUCK; |
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211 | break; |
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1701 | holgerb | 212 | // "case 9:" fehlt hier absichtlich |
1171 | hbuss | 213 | case 10: |
214 | nick1 += ADC; |
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215 | kanal = AD_ROLL; |
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216 | break; |
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217 | case 11: |
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218 | roll1 += ADC; |
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219 | kanal = AD_GIER; |
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220 | break; |
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221 | case 12: |
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222 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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1246 | killagreg | 223 | else |
1660 | holgerb | 224 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
1171 | hbuss | 225 | else AdWertGier = (ADC + gier1); |
226 | kanal = AD_ACC_Y; |
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227 | break; |
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228 | case 13: |
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229 | Aktuell_ay = NeutralAccY - ADC; |
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230 | AdWertAccRoll = (Aktuell_ay + accy); |
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231 | kanal = AD_ACC_X; |
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232 | break; |
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233 | case 14: |
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234 | Aktuell_ax = ADC - NeutralAccX; |
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235 | AdWertAccNick = (Aktuell_ax + accx); |
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236 | kanal = AD_NICK; |
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237 | break; |
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238 | case 15: |
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239 | nick1 += ADC; |
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1173 | hbuss | 240 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
241 | AdWertNick = nick1 / 8; |
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242 | nick_filter = (nick_filter + nick1) / 2; |
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243 | HiResNick = nick_filter - AdNeutralNick; |
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1171 | hbuss | 244 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
245 | kanal = AD_ROLL; |
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246 | break; |
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247 | case 16: |
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248 | roll1 += ADC; |
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1173 | hbuss | 249 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
250 | AdWertRoll = roll1 / 8; |
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251 | roll_filter = (roll_filter + roll1) / 2; |
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252 | HiResRoll = roll_filter - AdNeutralRoll; |
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1171 | hbuss | 253 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
254 | kanal = AD_DRUCK; |
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255 | break; |
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256 | case 17: |
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257 | state = 0; |
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258 | AdReady = 1; |
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259 | ZaehlMessungen++; |
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260 | // "break" fehlt hier absichtlich |
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261 | case 9: |
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1253 | killagreg | 262 | MessLuftdruck = ADC; |
263 | tmpLuftdruck += MessLuftdruck; |
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264 | if(++messanzahl_Druck >= 18) |
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265 | { |
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1266 | killagreg | 266 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
1253 | killagreg | 267 | HoehenWert = StartLuftdruck - Luftdruck; |
1272 | hbuss | 268 | SummenHoehe -= SummenHoehe/SM_FILTER; |
1253 | killagreg | 269 | SummenHoehe += HoehenWert; |
1695 | holgerb | 270 | VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
1272 | hbuss | 271 | tmpLuftdruck /= 2; |
272 | messanzahl_Druck = 18/2; |
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1253 | killagreg | 273 | } |
1171 | hbuss | 274 | kanal = AD_NICK; |
275 | break; |
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1246 | killagreg | 276 | default: |
1171 | hbuss | 277 | kanal = 0; state = 0; kanal = AD_NICK; |
278 | break; |
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1246 | killagreg | 279 | } |
1171 | hbuss | 280 | ADMUX = kanal; |
281 | if(state != 0) ANALOG_ON; |
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282 | } |
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283 |