Rev 1994 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1995 | - | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
||
| 3 | // + only for non-profit use |
||
| 4 | // + www.MikroKopter.com |
||
| 5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
||
| 6 | // + see the File "License.txt" for further Informations |
||
| 7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
||
| 8 | |||
| 9 | #include "main.h" |
||
| 10 | #include "eeprom.h" |
||
| 11 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
||
| 12 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
||
| 13 | volatile int HiResNick = 2500, HiResRoll = 2500; |
||
| 14 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
||
| 15 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
||
| 16 | volatile char messanzahl_AccHoch = 0; |
||
| 17 | volatile long Luftdruck = 32000; |
||
| 18 | volatile long SummenHoehe = 0; |
||
| 19 | volatile int StartLuftdruck; |
||
| 20 | volatile unsigned int MessLuftdruck = 1023; |
||
| 21 | unsigned char DruckOffsetSetting; |
||
| 22 | signed char ExpandBaro = 0; |
||
| 23 | volatile int VarioMeter = 0; |
||
| 24 | volatile unsigned int ZaehlMessungen = 0; |
||
| 25 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
||
| 26 | volatile unsigned char AdReady = 1; |
||
| 27 | float NeutralAccZ_float; |
||
| 28 | //####################################################################################### |
||
| 29 | // |
||
| 30 | void ADC_Init(void) |
||
| 31 | //####################################################################################### |
||
| 32 | { |
||
| 33 | ADMUX = 0;//Referenz ist extern |
||
| 34 | ANALOG_ON; |
||
| 35 | } |
||
| 36 | |||
| 37 | #define DESIRED_H_ADC 800 |
||
| 38 | |||
| 39 | void SucheLuftruckOffset(void) |
||
| 40 | { |
||
| 41 | unsigned int off; |
||
| 42 | ExpandBaro = 0; |
||
| 43 | |||
| 44 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 45 | { |
||
| 46 | unsigned char off2; |
||
| 47 | OCR0A = 150; |
||
| 48 | off2 = GetParamByte(PID_PRESSURE_OFFSET); |
||
| 49 | if(off2 < 230) off2 += 10; |
||
| 50 | OCR0B = off2; |
||
| 51 | Delay_ms_Mess(100); |
||
| 52 | if(MessLuftdruck > DESIRED_H_ADC) off2 = 240; |
||
| 53 | for(; off2 >= 5; off2 -= 5) |
||
| 54 | { |
||
| 55 | OCR0B = off2; |
||
| 56 | Delay_ms_Mess(50); |
||
| 57 | printf("*"); |
||
| 58 | if(MessLuftdruck > DESIRED_H_ADC) break; |
||
| 59 | } |
||
| 60 | SetParamByte(PID_PRESSURE_OFFSET, off2); |
||
| 61 | if(off2 >= 15) off = 140; else off = 0; |
||
| 62 | for(; off < 250;off++) |
||
| 63 | { |
||
| 64 | OCR0A = off; |
||
| 65 | Delay_ms_Mess(50); |
||
| 66 | printf("."); |
||
| 67 | if(MessLuftdruck < DESIRED_H_ADC) break; |
||
| 68 | } |
||
| 69 | DruckOffsetSetting = off; |
||
| 70 | } |
||
| 71 | #else |
||
| 72 | off = GetParamByte(PID_PRESSURE_OFFSET); |
||
| 73 | if(off > 20) off -= 10; |
||
| 74 | OCR0A = off; |
||
| 75 | Delay_ms_Mess(100); |
||
| 76 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
||
| 77 | for(; off < 250;off++) |
||
| 78 | { |
||
| 79 | OCR0A = off; |
||
| 80 | Delay_ms_Mess(50); |
||
| 81 | printf("."); |
||
| 82 | if(MessLuftdruck < DESIRED_H_ADC) break; |
||
| 83 | } |
||
| 84 | DruckOffsetSetting = off; |
||
| 85 | SetParamByte(PID_PRESSURE_OFFSET, off); |
||
| 86 | #endif |
||
| 87 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; |
||
| 88 | OCR0A = off; |
||
| 89 | Delay_ms_Mess(300); |
||
| 90 | } |
||
| 91 | |||
| 92 | |||
| 93 | void SucheGyroOffset(void) |
||
| 94 | { |
||
| 95 | unsigned char i, ready = 0; |
||
| 96 | int timeout; |
||
| 97 | timeout = SetDelay(2000); |
||
| 98 | for(i=140; i != 0; i--) |
||
| 99 | { |
||
| 100 | if(ready == 3 && i > 10) i = 9; |
||
| 101 | ready = 0; |
||
| 102 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
||
| 103 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
||
| 104 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
||
| 105 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
||
| 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;}; |
||
| 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;}; |
||
| 109 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
||
| 110 | AdReady = 0; |
||
| 111 | ANALOG_ON; |
||
| 112 | while(!AdReady); |
||
| 113 | if(i<10) Delay_ms_Mess(10); |
||
| 114 | } |
||
| 115 | Delay_ms_Mess(70); |
||
| 116 | } |
||
| 117 | |||
| 118 | /* |
||
| 119 | |||
| 120 | 1 r |
||
| 121 | 2 g |
||
| 122 | 3 y |
||
| 123 | 4 x |
||
| 124 | 5 n |
||
| 125 | 6 r |
||
| 126 | 7 u |
||
| 127 | 8 z |
||
| 128 | 9 L |
||
| 129 | 10 n |
||
| 130 | 11 r |
||
| 131 | 12 g |
||
| 132 | 13 y |
||
| 133 | 14 x |
||
| 134 | 15 n |
||
| 135 | 16 r |
||
| 136 | 17 L |
||
| 137 | */ |
||
| 138 | |||
| 139 | //####################################################################################### |
||
| 140 | // |
||
| 141 | ISR(ADC_vect) |
||
| 142 | //####################################################################################### |
||
| 143 | { |
||
| 144 | static unsigned char kanal=0,state = 0; |
||
| 145 | static signed char subcount = 0; |
||
| 146 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
||
| 147 | static signed int accy, accx; |
||
| 148 | static long tmpLuftdruck = 0; |
||
| 149 | static char messanzahl_Druck = 0; |
||
| 150 | switch(state++) |
||
| 151 | { |
||
| 152 | case 0: |
||
| 153 | nick1 = ADC; |
||
| 154 | kanal = AD_ROLL; |
||
| 155 | break; |
||
| 156 | case 1: |
||
| 157 | roll1 = ADC; |
||
| 158 | kanal = AD_GIER; |
||
| 159 | break; |
||
| 160 | case 2: |
||
| 161 | gier1 = ADC; |
||
| 162 | kanal = AD_ACC_Y; |
||
| 163 | break; |
||
| 164 | case 3: |
||
| 165 | Aktuell_ay = NeutralAccY - ADC; |
||
| 166 | accy = Aktuell_ay; |
||
| 167 | kanal = AD_ACC_X; |
||
| 168 | break; |
||
| 169 | case 4: |
||
| 170 | Aktuell_ax = ADC - NeutralAccX; |
||
| 171 | accx = Aktuell_ax; |
||
| 172 | kanal = AD_NICK; |
||
| 173 | break; |
||
| 174 | case 5: |
||
| 175 | nick1 += ADC; |
||
| 176 | kanal = AD_ROLL; |
||
| 177 | break; |
||
| 178 | case 6: |
||
| 179 | roll1 += ADC; |
||
| 180 | kanal = AD_UBAT; |
||
| 181 | break; |
||
| 182 | case 7: |
||
| 183 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
||
| 184 | if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference |
||
| 185 | else |
||
| 186 | #endif |
||
| 187 | UBat = (3 * UBat + ADC / 3) / 4; |
||
| 188 | kanal = AD_ACC_Z; |
||
| 189 | break; |
||
| 190 | case 8: |
||
| 191 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
||
| 192 | if(AdWertAccHoch > 1) |
||
| 193 | { |
||
| 194 | if(NeutralAccZ < 750) |
||
| 195 | { |
||
| 196 | subcount += 5; |
||
| 197 | if(modell_fliegt < 500) subcount += 10; |
||
| 198 | } |
||
| 199 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
||
| 200 | } |
||
| 201 | else if(AdWertAccHoch < -1) |
||
| 202 | { |
||
| 203 | if(NeutralAccZ > 550) |
||
| 204 | { |
||
| 205 | subcount -= 5; |
||
| 206 | if(modell_fliegt < 500) subcount -= 10; |
||
| 207 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
||
| 208 | } |
||
| 209 | } |
||
| 210 | messanzahl_AccHoch = 1; |
||
| 211 | Aktuell_az = ADC; |
||
| 212 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
||
| 213 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
||
| 214 | kanal = AD_DRUCK; |
||
| 215 | break; |
||
| 216 | // "case 9:" fehlt hier absichtlich |
||
| 217 | case 10: |
||
| 218 | nick1 += ADC; |
||
| 219 | kanal = AD_ROLL; |
||
| 220 | break; |
||
| 221 | case 11: |
||
| 222 | roll1 += ADC; |
||
| 223 | kanal = AD_GIER; |
||
| 224 | break; |
||
| 225 | case 12: |
||
| 226 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
||
| 227 | else |
||
| 228 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
||
| 229 | else AdWertGier = (ADC + gier1); |
||
| 230 | kanal = AD_ACC_Y; |
||
| 231 | break; |
||
| 232 | case 13: |
||
| 233 | Aktuell_ay = NeutralAccY - ADC; |
||
| 234 | AdWertAccRoll = (Aktuell_ay + accy); |
||
| 235 | kanal = AD_ACC_X; |
||
| 236 | break; |
||
| 237 | case 14: |
||
| 238 | Aktuell_ax = ADC - NeutralAccX; |
||
| 239 | AdWertAccNick = (Aktuell_ax + accx); |
||
| 240 | kanal = AD_NICK; |
||
| 241 | break; |
||
| 242 | case 15: |
||
| 243 | nick1 += ADC; |
||
| 244 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
||
| 245 | AdWertNick = nick1 / 8; |
||
| 246 | nick_filter = (nick_filter + nick1) / 2; |
||
| 247 | HiResNick = nick_filter - AdNeutralNick; |
||
| 248 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
||
| 249 | kanal = AD_ROLL; |
||
| 250 | break; |
||
| 251 | case 16: |
||
| 252 | roll1 += ADC; |
||
| 253 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
||
| 254 | AdWertRoll = roll1 / 8; |
||
| 255 | roll_filter = (roll_filter + roll1) / 2; |
||
| 256 | HiResRoll = roll_filter - AdNeutralRoll; |
||
| 257 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
||
| 258 | kanal = AD_DRUCK; |
||
| 259 | break; |
||
| 260 | case 17: |
||
| 261 | state = 0; |
||
| 262 | AdReady = 1; |
||
| 263 | ZaehlMessungen++; |
||
| 264 | // "break" fehlt hier absichtlich |
||
| 265 | case 9: |
||
| 266 | MessLuftdruck = ADC; |
||
| 267 | tmpLuftdruck += MessLuftdruck; |
||
| 268 | if(++messanzahl_Druck >= 18) |
||
| 269 | { |
||
| 270 | signed int tmp; |
||
| 271 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
||
| 272 | HoehenWert = StartLuftdruck - Luftdruck; |
||
| 273 | SummenHoehe -= SummenHoehe/SM_FILTER; |
||
| 274 | SummenHoehe += HoehenWert; |
||
| 275 | tmp = (HoehenWert - SummenHoehe/SM_FILTER); |
||
| 276 | if(tmp > 1024) tmp = 1024; else if(tmp < -1024) tmp = -1024; |
||
| 277 | if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16; |
||
| 278 | else VarioMeter = (31 * VarioMeter + 8 * tmp)/32; |
||
| 279 | tmpLuftdruck /= 2; |
||
| 280 | messanzahl_Druck = 18/2; |
||
| 281 | } |
||
| 282 | kanal = AD_NICK; |
||
| 283 | break; |
||
| 284 | default: |
||
| 285 | kanal = 0; state = 0; kanal = AD_NICK; |
||
| 286 | break; |
||
| 287 | } |
||
| 288 | ADMUX = kanal; |
||
| 289 | if(state != 0) ANALOG_ON; |
||
| 290 | } |
||
| 291 |