| 17,8 → 17,8 |
|---|
| |
| volatile int16_t Current_AccZ = 0; |
| volatile int16_t UBat = 100; |
| volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0; |
| volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0; |
| volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0; |
| volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0; |
| volatile int32_t AirPressure = 32000; |
| volatile int16_t StartAirPressure; |
| volatile uint16_t ReadingAirPressure = 1023; |
| 87,13 → 87,13 |
|---|
| // thru the state machine by the following order. |
| // state 0: ch0 (yaw gyro) |
| // state 1: ch1 (roll gyro) |
| // state 2: ch2 (pitch gyro) |
| // state 2: ch2 (nick gyro) |
| // state 3: ch4 (battery voltage -> UBat) |
| // state 4: ch6 (acc y -> Current_AccY) |
| // state 5: ch7 (acc x -> Current_AccX) |
| // state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw) |
| // state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll) |
| // state 8: ch2 (pitch gyro average with first reading -> AdValueGyrPitch) |
| // state 8: ch2 (nick gyro average with first reading -> AdValueGyrNick) |
| // state 9: ch5 (acc z add also 4th part of acc x and acc y to reading) |
| // state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure) |
| |
| 100,7 → 100,7 |
|---|
| ISR(ADC_vect) |
| { |
| static uint8_t adc_channel = 0, state = 0; |
| static uint16_t yaw1, roll1, pitch1; |
| static uint16_t yaw1, roll1, nick1; |
| static uint8_t average_pressure = 0; |
| static int16_t tmpAirPressure = 0; |
| // disable further AD conversion |
| 115,10 → 115,10 |
|---|
| break; |
| case 1: |
| roll1 = ADC; // get Gyro Roll Voltage 1st sample |
| adc_channel = 2; // set next channel to ADC2 = PITCH GYRO |
| adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
| break; |
| case 2: |
| pitch1 = ADC; // get Gyro Pitch Voltage 1st sample |
| nick1 = ADC; // get Gyro Nick Voltage 1st sample |
| adc_channel = 4; // set next channel to ADC4 = UBAT |
| break; |
| case 3: |
| 131,7 → 131,7 |
|---|
| adc_channel = 7; // set next channel to ADC7 = ACC_X |
| break; |
| case 5: |
| AdValueAccPitch = ADC - NeutralAccX; // get acceleration in X direction |
| AdValueAccNick = ADC - NeutralAccX; // get acceleration in X direction |
| adc_channel = 0; // set next channel to ADC7 = YAW GYRO |
| break; |
| case 6: |
| 144,18 → 144,18 |
|---|
| // average over two samples to create current ADValueGyrRoll |
| if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2; |
| else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1 |
| adc_channel = 2; // set next channel to ADC2 = PITCH GYRO |
| adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
| break; |
| case 8: |
| // average over two samples to create current ADValuePitch |
| if(BoardRelease == 10) AdValueGyrPitch = (ADC + pitch1) / 2; |
| else AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1 |
| // average over two samples to create current ADValueNick |
| if(BoardRelease == 10) AdValueGyrNick = (ADC + nick1) / 2; |
| else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1 |
| adc_channel = 5; // set next channel to ADC5 = ACC_Z |
| break; |
| case 9: |
| // get z acceleration |
| AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction |
| AdValueAccTop += abs(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4; |
| AdValueAccTop += abs(AdValueAccNick) / 4 + abs(AdValueAccRoll) / 4; |
| if(AdValueAccTop > 1) |
| { |
| if(NeutralAccZ < 750) |