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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 787 | Nick666 | 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 | |||
| 887 | Nick666 | 10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_az, UBat = 100; |
| 787 | Nick666 | 11 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| 12 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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| 13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
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| 14 | volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
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| 15 | volatile long Luftdruck = 32000; |
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| 16 | volatile int StartLuftdruck; |
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| 17 | volatile unsigned int MessLuftdruck = 1023; |
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| 18 | unsigned char DruckOffsetSetting; |
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| 19 | volatile int HoeheD = 0; |
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| 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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| 23 | |||
| 24 | //####################################################################################### |
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| 25 | // |
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| 26 | void ADC_Init(void) |
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| 27 | //####################################################################################### |
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| 28 | { |
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| 887 | Nick666 | 29 | ADMUX = 0; // Referenz extern, Right Adjust, ADC0 |
| 30 | ADCSRA = (1<<ADEN)|(1<<ADSC)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
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| 31 | // Single Conversion, Division Factor 128, Interrupt on |
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| 32 | // ~12 kSPS |
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| 787 | Nick666 | 33 | } |
| 34 | |||
| 35 | void SucheLuftruckOffset(void) |
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| 36 | { |
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| 37 | unsigned int off; |
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| 38 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
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| 39 | if(off > 20) off -= 10; |
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| 40 | OCR0A = off; |
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| 41 | Delay_ms_Mess(100); |
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| 42 | if(MessLuftdruck < 850) off = 0; |
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| 43 | for(; off < 250;off++) |
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| 44 | { |
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| 45 | OCR0A = off; |
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| 46 | Delay_ms_Mess(50); |
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| 47 | printf("."); |
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| 48 | if(MessLuftdruck < 900) break; |
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| 49 | } |
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| 50 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
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| 51 | DruckOffsetSetting = off; |
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| 52 | Delay_ms_Mess(300); |
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| 53 | } |
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| 54 | |||
| 55 | |||
| 56 | //####################################################################################### |
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| 57 | // |
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| 58 | SIGNAL(SIG_ADC) |
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| 59 | //####################################################################################### |
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| 60 | { |
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| 887 | Nick666 | 61 | static unsigned char state = 0; |
| 787 | Nick666 | 62 | static unsigned int gier1, roll1, nick1; |
| 887 | Nick666 | 63 | |
| 787 | Nick666 | 64 | switch(state++) |
| 65 | { |
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| 66 | case 0: |
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| 67 | gier1 = ADC; |
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| 887 | Nick666 | 68 | ADMUX = 1; |
| 787 | Nick666 | 69 | ZaehlMessungen++; |
| 70 | break; |
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| 71 | case 1: |
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| 72 | roll1 = ADC; |
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| 887 | Nick666 | 73 | ADMUX = 2; |
| 787 | Nick666 | 74 | break; |
| 75 | case 2: |
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| 76 | nick1 = ADC; |
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| 887 | Nick666 | 77 | ADMUX = 4; |
| 787 | Nick666 | 78 | break; |
| 79 | case 3: |
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| 857 | Nick666 | 80 | UBat = (3 * UBat + ADC / 3) / 4; |
| 887 | Nick666 | 81 | ADMUX = 6; |
| 787 | Nick666 | 82 | break; |
| 83 | case 4: |
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| 887 | Nick666 | 84 | AdWertAccRoll = acc_neutral.Y - ADC; |
| 85 | ADMUX = 7; |
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| 787 | Nick666 | 86 | break; |
| 87 | case 5: |
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| 887 | Nick666 | 88 | AdWertAccNick = ADC - acc_neutral.X; |
| 89 | ADMUX = 0; |
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| 787 | Nick666 | 90 | break; |
| 91 | case 6: |
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| 857 | Nick666 | 92 | #if (PlatinenVersion == 10) |
| 93 | AdWertGier = (ADC + gier1) / 2; |
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| 94 | #else |
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| 95 | AdWertGier = ADC + gier1; |
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| 96 | #endif |
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| 887 | Nick666 | 97 | ADMUX = 1; |
| 787 | Nick666 | 98 | break; |
| 99 | case 7: |
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| 858 | Nick666 | 100 | #if (PlatinenVersion == 10) |
| 857 | Nick666 | 101 | AdWertRoll = (ADC + roll1) / 2; |
| 102 | #else |
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| 103 | AdWertRoll = ADC + roll1; |
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| 104 | #endif |
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| 887 | Nick666 | 105 | ADMUX = 2; |
| 787 | Nick666 | 106 | break; |
| 107 | case 8: |
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| 857 | Nick666 | 108 | #if (PlatinenVersion == 10) |
| 109 | AdWertNick = (ADC + nick1) / 2; |
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| 110 | #else |
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| 111 | AdWertNick = ADC + nick1; |
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| 112 | #endif |
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| 887 | Nick666 | 113 | ADMUX = 5; |
| 787 | Nick666 | 114 | break; |
| 887 | Nick666 | 115 | case 9: |
| 116 | AdWertAccHoch = (signed int) ADC - acc_neutral.Z; |
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| 117 | AdWertAccHoch += abs(AdWertAccRoll) / 4 + abs(AdWertAccNick) / 4; |
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| 787 | Nick666 | 118 | if(AdWertAccHoch > 1) |
| 119 | { |
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| 887 | Nick666 | 120 | if(acc_neutral.Z < 800) acc_neutral.Z += 0.02; |
| 787 | Nick666 | 121 | } |
| 122 | else if(AdWertAccHoch < -1) |
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| 123 | { |
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| 887 | Nick666 | 124 | if(acc_neutral.Z > 600) acc_neutral.Z -= 0.02; |
| 787 | Nick666 | 125 | } |
| 126 | messanzahl_AccHoch = 1; |
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| 127 | Aktuell_az = ADC; |
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| 128 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 887 | Nick666 | 129 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämpfen |
| 130 | ADMUX = 3; |
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| 787 | Nick666 | 131 | break; |
| 132 | case 10: |
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| 133 | tmpLuftdruck += ADC; |
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| 134 | if(++messanzahl_Druck >= 5) |
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| 135 | { |
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| 136 | MessLuftdruck = ADC; |
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| 137 | messanzahl_Druck = 0; |
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| 138 | HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
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| 139 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
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| 140 | HoehenWert = StartLuftdruck - Luftdruck; |
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| 141 | tmpLuftdruck = 0; |
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| 142 | } |
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| 887 | Nick666 | 143 | ADMUX = 0; |
| 787 | Nick666 | 144 | state = 0; |
| 145 | break; |
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| 146 | default: |
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| 887 | Nick666 | 147 | ADMUX = 0; |
| 787 | Nick666 | 148 | state = 0; |
| 149 | break; |
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| 887 | Nick666 | 150 | } |
| 151 | if (state != 0) ANALOG_ON; // Nach einer kompletten Runde ADC nicht neu starten. Neustart wird in der fc.c initiiert. |
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| 787 | Nick666 | 152 | } |