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| Rev | Author | Line No. | Line |
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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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| 380 | hbuss | 10 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| 11 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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| 1 | ingob | 12 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| 13 | volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
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| 14 | volatile long Luftdruck = 32000; |
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| 15 | volatile int StartLuftdruck; |
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| 16 | volatile unsigned int MessLuftdruck = 1023; |
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| 17 | unsigned char DruckOffsetSetting; |
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| 1036 | hbuss | 18 | signed char ExpandBaro = 0; |
| 1 | ingob | 19 | volatile int HoeheD = 0; |
| 20 | volatile char messanzahl_Druck; |
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| 21 | volatile int tmpLuftdruck; |
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| 22 | volatile unsigned int ZaehlMessungen = 0; |
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| 918 | hbuss | 23 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
| 24 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
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| 1155 | hbuss | 25 | 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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| 30 | { |
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| 31 | ADMUX = 0;//Referenz ist extern |
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| 1155 | hbuss | 32 | ANALOG_ON; |
| 1 | ingob | 33 | } |
| 34 | |||
| 35 | void SucheLuftruckOffset(void) |
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| 36 | { |
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| 37 | unsigned int off; |
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| 173 | holgerb | 38 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| 39 | if(off > 20) off -= 10; |
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| 40 | OCR0A = off; |
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| 1036 | hbuss | 41 | ExpandBaro = 0; |
| 380 | hbuss | 42 | Delay_ms_Mess(100); |
| 173 | holgerb | 43 | if(MessLuftdruck < 850) off = 0; |
| 44 | for(; off < 250;off++) |
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| 1 | ingob | 45 | { |
| 46 | OCR0A = off; |
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| 380 | hbuss | 47 | Delay_ms_Mess(50); |
| 1 | ingob | 48 | printf("."); |
| 1036 | hbuss | 49 | if(MessLuftdruck < 850) break; |
| 1 | ingob | 50 | } |
| 173 | holgerb | 51 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| 52 | DruckOffsetSetting = off; |
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| 380 | hbuss | 53 | Delay_ms_Mess(300); |
| 1 | ingob | 54 | } |
| 55 | |||
| 918 | hbuss | 56 | void SucheGyroOffset(void) |
| 57 | { |
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| 58 | unsigned char i, ready = 0; |
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| 59 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
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| 60 | for(i=140; i != 0; i--) |
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| 61 | { |
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| 921 | hbuss | 62 | if(ready == 3 && i > 10) i = 9; |
| 918 | hbuss | 63 | ready = 0; |
| 64 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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| 65 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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| 66 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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| 67 | twi_state = 8; |
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| 68 | i2c_start(); |
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| 69 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
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| 70 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
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| 71 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
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| 72 | while(twi_state); |
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| 73 | messanzahl_Druck = 0; |
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| 74 | ANALOG_ON; |
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| 75 | while(messanzahl_Druck == 0); |
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| 76 | if(i<10) Delay_ms_Mess(10); |
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| 77 | } |
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| 921 | hbuss | 78 | Delay_ms_Mess(70); |
| 918 | hbuss | 79 | } |
| 1 | ingob | 80 | |
| 81 | //####################################################################################### |
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| 82 | // |
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| 83 | SIGNAL(SIG_ADC) |
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| 84 | //####################################################################################### |
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| 85 | { |
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| 86 | static unsigned char kanal=0,state = 0; |
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| 1155 | hbuss | 87 | static unsigned int gier1, roll1, nick1, accy, accx; |
| 1 | ingob | 88 | ANALOG_OFF; |
| 89 | switch(state++) |
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| 90 | { |
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| 91 | case 0: |
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| 401 | hbuss | 92 | gier1 = ADC; |
| 1155 | hbuss | 93 | kanal = AD_ROLL; |
| 1 | ingob | 94 | ZaehlMessungen++; |
| 95 | break; |
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| 96 | case 1: |
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| 401 | hbuss | 97 | roll1 = ADC; |
| 1155 | hbuss | 98 | kanal = AD_NICK; |
| 1 | ingob | 99 | break; |
| 100 | case 2: |
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| 401 | hbuss | 101 | nick1 = ADC; |
| 1155 | hbuss | 102 | kanal = AD_ACC_Y; |
| 1 | ingob | 103 | break; |
| 104 | case 3: |
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| 1155 | hbuss | 105 | Aktuell_ay = NeutralAccY - ADC; |
| 106 | accy = Aktuell_ay; |
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| 107 | kanal = AD_ACC_X; |
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| 1 | ingob | 108 | break; |
| 109 | case 4: |
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| 1155 | hbuss | 110 | Aktuell_ax = ADC - NeutralAccX; |
| 111 | accx = Aktuell_ax; |
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| 112 | kanal = AD_GIER; |
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| 1 | ingob | 113 | break; |
| 114 | case 5: |
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| 1155 | hbuss | 115 | gier1 += ADC; |
| 116 | kanal = AD_ROLL; |
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| 1 | ingob | 117 | break; |
| 118 | case 6: |
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| 1155 | hbuss | 119 | roll1 += ADC; |
| 120 | kanal = AD_NICK; |
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| 401 | hbuss | 121 | break; |
| 122 | case 7: |
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| 1155 | hbuss | 123 | nick1 += ADC; |
| 124 | kanal = AD_UBAT; |
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| 401 | hbuss | 125 | break; |
| 126 | case 8: |
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| 1155 | hbuss | 127 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
| 128 | kanal = AD_ACC_Z; |
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| 401 | hbuss | 129 | break; |
| 130 | case 9: |
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| 380 | hbuss | 131 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| 132 | if(AdWertAccHoch > 1) |
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| 1 | ingob | 133 | { |
| 871 | hbuss | 134 | if(NeutralAccZ < 750) |
| 135 | { |
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| 136 | NeutralAccZ += 0.02; |
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| 137 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 138 | } |
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| 1 | ingob | 139 | } |
| 380 | hbuss | 140 | else if(AdWertAccHoch < -1) |
| 1 | ingob | 141 | { |
| 871 | hbuss | 142 | if(NeutralAccZ > 550) |
| 143 | { |
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| 144 | NeutralAccZ-= 0.02; |
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| 145 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 146 | } |
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| 1 | ingob | 147 | } |
| 148 | messanzahl_AccHoch = 1; |
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| 149 | Aktuell_az = ADC; |
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| 380 | hbuss | 150 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| 1 | ingob | 151 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| 1155 | hbuss | 152 | kanal = AD_GIER; |
| 1 | ingob | 153 | break; |
| 401 | hbuss | 154 | case 10: |
| 1155 | hbuss | 155 | gier1 += ADC; |
| 156 | kanal = AD_ROLL; |
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| 157 | break; |
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| 158 | case 11: |
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| 159 | roll1 += ADC; |
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| 160 | kanal = AD_NICK; |
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| 161 | break; |
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| 162 | case 12: |
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| 163 | nick1 += ADC; |
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| 164 | kanal = AD_DRUCK; |
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| 165 | break; |
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| 166 | case 13: |
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| 1 | ingob | 167 | tmpLuftdruck += ADC; |
| 168 | if(++messanzahl_Druck >= 5) |
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| 169 | { |
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| 170 | MessLuftdruck = ADC; |
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| 171 | messanzahl_Druck = 0; |
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| 1036 | hbuss | 172 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/8; // D-Anteil = neuerWert - AlterWert |
| 1 | ingob | 173 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| 1036 | hbuss | 174 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
| 1 | ingob | 175 | tmpLuftdruck = 0; |
| 176 | } |
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| 1155 | hbuss | 177 | kanal = AD_ACC_Y; |
| 178 | break; |
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| 179 | case 14: |
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| 180 | Aktuell_ay = NeutralAccY - ADC; |
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| 181 | AdWertAccRoll = (Aktuell_ay + accy); |
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| 182 | kanal = AD_ACC_X; |
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| 183 | break; |
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| 184 | case 15: |
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| 185 | Aktuell_ax = ADC - NeutralAccX; |
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| 186 | AdWertAccNick = (Aktuell_ax + accx); |
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| 187 | kanal = AD_GIER; |
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| 188 | break; |
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| 189 | case 16: |
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| 190 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 4; |
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| 191 | else |
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| 192 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1)/2; |
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| 193 | else AdWertGier = (ADC + gier1) / 2; |
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| 194 | kanal = AD_ROLL; |
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| 195 | break; |
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| 196 | case 17: |
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| 197 | if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 4; |
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| 198 | else AdWertRoll = (ADC + roll1) / 2; |
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| 199 | kanal = AD_NICK; |
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| 200 | break; |
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| 201 | case 18: |
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| 202 | if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 4; |
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| 203 | else AdWertNick = (ADC + nick1) / 2; |
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| 204 | kanal = AD_GIER; |
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| 1 | ingob | 205 | state = 0; |
| 1155 | hbuss | 206 | AdReady = 1; |
| 1 | ingob | 207 | break; |
| 208 | default: |
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| 209 | kanal = 0; |
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| 210 | state = 0; |
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| 211 | break; |
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| 212 | } |
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| 213 | ADMUX = kanal; |
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| 380 | hbuss | 214 | if(state != 0) ANALOG_ON; |
| 1 | ingob | 215 | } |