Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + www.MikroKopter.com

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software Nutzungsbedingungen (english version: see below)

// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -

// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den

// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 

// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.

// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im

// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.

// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie

// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.

// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren

// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren

// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 

// + des Mitverschuldens offen.

// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.

// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.

// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.

// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang

// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.

// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.

// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'

// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Software LICENSING TERMS

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -

// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 

// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.

// + The Software may only be used with the Licensor's products.

// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this

// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this

// + agreement shall be the property of the Licensor.

// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other

// + features that can be used to identify the program may not be altered or defaced by the customer.

// + The customer shall be responsible for taking reasonable precautions

// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the

// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and

// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product

// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.

// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test

// + the software for his purpose before any operational usage. The customer will backup his data before using the software.

// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data

// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.

// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.

// + #### END OF LICENSING TERMS ####

// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include "main.h"

#include "eeprom.h"

volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 150;

volatile int  AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;

volatile int  HiResNick = 2500, HiResRoll = 2500;

volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;

volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;

int LuftdruckTemperaturOffset = 0;

volatile long Luftdruck = 32000;

volatile long LuftdruckKompensiert = 32000;

volatile long SummenHoehe = 0;

volatile long StartLuftdruck;

volatile unsigned int  MessLuftdruck = 1023;

unsigned char DruckOffsetSetting;

signed char ExpandBaro = 0;

volatile int VarioMeter = 0;

volatile unsigned int ZaehlMessungen = 0;

unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;

volatile unsigned char AdReady = 1;

unsigned int BaroStep = 500;

long ExpandBaroStep = 0;

long HoehenWertF = 0;

long HoehenWert_Mess = 0;

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

long HoehenWertF_Mess = 0;

unsigned char CalAthmospheare = 16;

unsigned char AD_ACC_Y = 6;

unsigned char AD_ACC_X = 7;

#endif

//#######################################################################################

void ADC_Init(void)

//#######################################################################################

{

    ADMUX = 0;//Referenz ist extern

    ANALOG_ON;

}

#define DESIRED_H_ADC 800

void CalcExpandBaroStep(void)

{

  if(ACC_AltitudeControl) ExpandBaroStep = BaroStep * (long)ExpandBaro;

  else ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4;

}

void SucheLuftruckOffset(void)

{

 unsigned int off;

 ExpandBaro = 0;

 CalcExpandBaroStep();

  off = GetParamByte(PID_PRESSURE_OFFSET);

  if(off < 240) off += 10;

  OCR0A = off;

  OCR0B = 255-off;

  Delay_ms_Mess(150);

  if(MessLuftdruck > DESIRED_H_ADC) off = 240;

  for(; off > 5; off--)

   {

    OCR0A = off;

    OCR0B = 255-off;

    Delay_ms_Mess(100);

    printf(".");

    if(MessLuftdruck > DESIRED_H_ADC) break;

   }

   DruckOffsetSetting = off;

   SetParamByte(PID_PRESSURE_OFFSET, off);

 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 230)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE;

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + correction of the altitude error in higher altitudes

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

 CalAthmospheare = 15;                                      // re-claibrated from 16 to 15 at 2.09 -> the baro-Altimeter was about 7% too high

 if(ACC_AltitudeControl)

  {

   if(PlatinenVersion < 23) { if(off < 140) CalAthmospheare += (160 - off) / 26; }

//   else { if(off < 170) CalAthmospheare += (188 - off) / 19; }

   else { if(off < 170) CalAthmospheare += (188 - off) / 15; } // rescaled at 2.09

  }

 Luftdruck = MessLuftdruck * CalAthmospheare;

 LuftdruckKompensiert = Luftdruck + LuftdruckTemperaturOffset;

#endif

 Delay_ms_Mess(300);

}

/*

void SucheGyroOffset(void)

{

 unsigned char i, ready = 0;

 int timeout;

 timeout = SetDelay(2000);

 for(i=140; i != 0; i--)

  {

   if(ready == 3 && i > 10) i = 9;

   ready = 0;

   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;

   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;

   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;

   I2C_Start(TWI_STATE_GYRO_OFFSET_TX);

   if(AnalogOffsetNick < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;};

   if(AnalogOffsetRoll < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;};

   if(AnalogOffsetGier < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW;  AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW;  AnalogOffsetGier = 245;};

   while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}

   AdReady = 0;

   ANALOG_ON;

   while(!AdReady);

   if(i<10) Delay_ms_Mess(10);

  }

   Delay_ms_Mess(70);

}

*/

/*

1  r

2     g

3     y

4     x

5  n

6  r

7     u

8     z

9     L

10 n

11 r

12    g

13    y

14    x

15 n

16 r

17    L

*/

//#######################################################################################

//

ISR(ADC_vect)

//#######################################################################################

{

    static unsigned char kanal=0,state = 0;

        static signed int subcount = 0;

    static signed int gier1, roll1, nick1, nick_filter, roll_filter;

        static signed int accy, accx;

        static long tmpLuftdruck = 0;

        static char messanzahl_Druck = 0;

    switch(state++)

        {

        case 0:

            nick1 = ADC;

            kanal = AD_ROLL;

            break;

        case 1:

            roll1 = ADC;

                    kanal = AD_GIER;

            break;

        case 2:

            gier1 = ADC;

            kanal = AD_ACC_Y;

            break;

        case 3:

            Aktuell_ay = NeutralAccY - ADC;

            accy = Aktuell_ay;

                    kanal = AD_ACC_X;

            break;

        case 4:

            Aktuell_ax = ADC - NeutralAccX;

            accx =  Aktuell_ax;

            kanal = AD_NICK;

            break;

        case 5:

            nick1 += ADC;

            kanal = AD_ROLL;

            break;

        case 6:

            roll1 += ADC;

            kanal = AD_UBAT;

            break;

        case 7:

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

            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

                        else  

#endif

                         {

                          static unsigned int tmpVoltage = 0;

                          if(!tmpVoltage) tmpVoltage = (10 * ADC);

                          if(tmpVoltage <= (10 * ADC)) tmpVoltage += 2; else tmpVoltage -= 2;

              UBat = tmpVoltage / 31;

                         }

                    kanal = AD_ACC_Z;

            break;

       case 8:

                         Aktuell_az = ADC;

                         AdWertAccHoch = Aktuell_az - NeutralAccZ - (int) NeutralAccZfine;

                     if(!ACC_AltitudeControl) // The Offset must be corrected, because of the ACC-Drift from vibrations

                     {

                      if(AdWertAccHoch > 1)

               {

                if(NeutralAccZ < 750)

                 {

                  subcount += 5;

                  if(modell_fliegt < 500) subcount += 10;

                  if(subcount > 100) { NeutralAccZ++; subcount -= 100;}

                 }

               }

               else if(AdWertAccHoch < -1)

               {

                if(NeutralAccZ > 550)

                 {

                  subcount -= 5;

                  if(modell_fliegt < 500) subcount -= 10;

                  if(subcount < -100) { NeutralAccZ--; subcount += 100;}

                 }

               }

             }

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

                         else

                         if(CosAttitude > 8192 - 50) // horizontal leveled within 6°

                     {

                      if(AdWertAccHoch > 1)

               {

                  if(++subcount > 5000)

                                   {

                    if(NeutralAccZfine < 6) NeutralAccZfine++;

                                        subcount -= 5000;

                                   }

               }

               else

                           if(AdWertAccHoch < -1)

               {

                  if(--subcount < -5000)

                                   {

                    if(NeutralAccZfine > -6) NeutralAccZfine--;

                                        subcount += 5000;

                                   }

               }

             }

#endif

            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren

            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen

                kanal = AD_DRUCK;

            break;

   // "case 9:" fehlt hier absichtlich

        case 10:

            nick1 += ADC;

            kanal = AD_ROLL;

            break;

        case 11:

            roll1 += ADC;

                    kanal = AD_GIER;

            break;

        case 12:

/*            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 1) / 2;

            else

            if(PlatinenVersion >= 20)  AdWertGier = 2047 - (ADC + gier1);

                        else                                       AdWertGier = (ADC + gier1);

*/

                        AdWertGier = 2047 - (ADC + gier1);

            kanal = AD_ACC_Y;

            break;

        case 13:

            Aktuell_ay = NeutralAccY - ADC;

            AdWertAccRoll = (Aktuell_ay + accy);

            kanal = AD_ACC_X;

            break;

        case 14:

            Aktuell_ax = ADC - NeutralAccX;

            AdWertAccNick =  (Aktuell_ax + accx);

            kanal = AD_NICK;

            break;

        case 15:

            nick1 += ADC;

            //if(PlatinenVersion == 10) nick1 *= 2; else 

                        nick1 *= 4;

            AdWertNick = nick1 / 8;

            nick_filter = (nick_filter + nick1) / 2;

            HiResNick = nick_filter - AdNeutralNick;

            AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;

            kanal = AD_ROLL;

            break;

        case 16:

            roll1 += ADC;

            //if(PlatinenVersion == 10) roll1 *= 2; else 

                        roll1 *= 4;

            AdWertRoll = roll1 / 8;

            roll_filter = (roll_filter + roll1) / 2;

            HiResRoll = roll_filter - AdNeutralRoll;

            AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;

                kanal = AD_DRUCK;

            break;

        case 17:

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

                        if(ACC_AltitudeControl)                

                        {

                         HoehenWertF_Mess = (ACC_AltitudeFusion(0) + SA_FILTER/2)/SA_FILTER;    // cm

            }

                        else HoehenWertF_Mess = HoehenWert;

#endif

            state = 0;

                        AdReady = 1;

            ZaehlMessungen++;

            // "break" fehlt hier absichtlich

        case 9:

                MessLuftdruck = ADC;

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

                        if(ACC_AltitudeControl)                

                        {

                                tmpLuftdruck = MessLuftdruck - ExpandBaroStep;  // -523 counts per offset step

                                if(BaroExpandActive)

                                {

                                  if(BaroExpandActive < 10) Luftdruck = tmpLuftdruck * CalAthmospheare;

                                }

                                else

                                {

                                        Luftdruck -= Luftdruck / CalAthmospheare; // 16

                                        Luftdruck += tmpLuftdruck;

                                        LuftdruckKompensiert = Luftdruck + LuftdruckTemperaturOffset;

                                        HoehenWert_Mess = StartLuftdruck - LuftdruckKompensiert;        // cm

                                }                      

                        }

                        else

#endif

            {   // old version (until FC V2.1)

                                tmpLuftdruck += MessLuftdruck;

                                if(++messanzahl_Druck >= 16) // war bis 0.86 "18"

                                {

                            signed int tmp;

                                Luftdruck = (7 * Luftdruck + tmpLuftdruck - ExpandBaroStep) / 8;  // -523.19 counts per 10 counts offset step

                                HoehenWert_Mess = StartLuftdruck - Luftdruck;

                                SummenHoehe -= SummenHoehe/SM_FILTER;

                                SummenHoehe += HoehenWert_Mess;

                                tmp = (HoehenWert_Mess - SummenHoehe/SM_FILTER);

                                if(tmp > 1024) tmp = 1024;      else if(tmp < -1024) tmp = -1024;

                if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16;

                                else VarioMeter = (31 * VarioMeter + 8 * tmp)/32;

                tmpLuftdruck /= 2;

                messanzahl_Druck = 16/2;

                                LuftdruckKompensiert = Luftdruck;

                                }

                        }

            kanal = AD_NICK;

            break;

        default:

            kanal = 0; state = 0; kanal = AD_NICK;

            break;

        }

    ADMUX = kanal;

    if(state != 0) ANALOG_ON;

}