| 0,0 → 1,316 |
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| /***************************************************************************************************************************** |
| * File: analog.c |
| * |
| * Purpose: collecting ADC analog inputs from PORTA |
| * |
| * Functions: void ADC_Init(void) |
| * void SucheLuftruckOffset(void) |
| * void SucheGyroOffset(void) |
| * ISR(ADC_vect) |
| * |
| *****************************************************************************************************************************/ |
| #include "analog.h" |
| #include "main.h" |
| |
| volatile int Aktuell_Nick, Aktuell_Roll, Aktuell_Gier, Aktuell_ax, Aktuell_ay, Aktuell_az, UBat = 100; |
| 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; |
| volatile char messanzahl_AccHoch = 0; |
| volatile long Luftdruck = 32000; |
| volatile long SummenHoehe = 0; |
| volatile int 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; |
| unsigned char GyroDefektN = 0, GyroDefektR = 0, GyroDefektG = 0; |
| volatile unsigned char AdReady = 1; |
| |
| |
| // ************************************************************************************************************************************* |
| // initialize the analog digital converter ADC |
| // ------------------------------------------------------------------------------------------------------------------------------------- |
| void ADC_Init(void) |
| { |
| // ADMUX = ADC Multiplexer Selection Register > REFS1 REFS0 ADLAR MUX4 MUX3 MUX2 MUX1 MUX0 |
| // ----------------------------------------------------------------------------------------- |
| // REFS1:0 = Reference Selection Bits |
| // ADLAR = ADC Left Adjust Result |
| // MUX4:0 = Analog Channel and Gain Selection Bits |
| // |
| ADMUX = 0; // AREF, Internal Vref is turned off |
| // // the result is right adjusted |
| // // MUX = 00000 = ADC0 |
| |
| |
| // ADCSRA = Analog Digital Conversion Status Register A -> ADEN ADSC ADATE ADIF ADIE ADPS2 ADPS1 ADPS0 |
| // --------------------------------------------------------------------------------------------------- |
| // ADEN = Writing this bit to one enables the ADC |
| // ADSC = start conversion |
| // ADATE = When this bit is written to one, Auto Triggering of the ADC is enabled |
| // ADIE = ADC Interrupt Enable. When this bit is written to one and the I-bit in SREG is set, the ADC Conversion Complete Interrupt is activated. |
| // ADPS = These bits determine the division factor between the XTAL frequency and the input clock to the ADC. |
| // Prescaler with ADPS2 ADPS1 ADPS0 = 111 = Division Factor 128 = 156.25 kHz |
| // |
| ANALOG_ON; // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADIE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0) |
| } |
| // *** EOF: void ADC_Init(void) ************************************************************************************ |
| |
| |
| #define DESIRED_H_ADC 800 |
| |
| |
| |
| // ********************************************************************************************************************************* |
| // initialize the air pressure offset |
| // ------------------------------------ |
| void SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| |
| off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| if(off > 20) off -= 10; |
| OCR0A = off; // Timer/Counter0 Output Compare Register A |
| ExpandBaro = 0; |
| Delay_ms_Mess(100); // -> timer0.c |
| if(MessLuftdruck < DESIRED_H_ADC) off = 0; // #define DESIRED_H_ADC 800 |
| |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < DESIRED_H_ADC) break; |
| } |
| |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| DruckOffsetSetting = off; |
| Delay_ms_Mess(300); |
| } |
| // *** EOF: SucheLuftruckOffset(void) ********************************************************************************************** |
| |
| |
| |
| // ********************************************************************************************************************************* |
| // initialize the Gyro-Offset |
| // --------------------------- |
| void SucheGyroOffset(void) |
| { |
| unsigned char i, ready = 0; |
| int timeout; |
| |
| GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
| 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++; |
| twi_state = 8; |
| i2c_start(); |
| if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
| if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
| if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; 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; // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| while(!AdReady); |
| if(i<10) Delay_ms_Mess(10); |
| } |
| |
| Delay_ms_Mess(70); |
| } |
| // *** EOF: SucheGyroOffset(void) ************************************************************************************************** |
| |
| |
| |
| // ********************************************************************************************************************************* |
| // read analog input with the following sequence: |
| // --------------------------------------------------------------------------------------------------- |
| // case: |
| // 0 nick-gyro |
| // 1 roll-gyro |
| // 2 gier-gyro |
| // 3 y acc roll |
| // 4 x acc nick |
| // 5 nick-gyro |
| // 6 roll-gyro |
| // 7 voltage V |
| // 8 z acc |
| // 9 air pressure |
| // 10 nick-gyro |
| // 11 roll-gyro |
| // 12 gier-gyro |
| // 13 y acc roll |
| // 14 x acc nick |
| // 15 nick-gyro |
| // 16 roll-gyro |
| // 17 air pressure |
| // --------------------------------------------------------------------------------------------------- |
| ISR(ADC_vect) |
| { |
| static unsigned char kanal=0,state = 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: // nick gyro |
| nick1 = ADC; // Messwert Nick aus dem Gyroskop (kippen nach vorne-hinten) |
| kanal = AD_ROLL; // #define AD_ROLL 1 |
| break; |
| |
| case 1: // roll gyro |
| roll1 = 512; // Messwert Roll aus dem Gyroskop (kippen nach rechts-links) |
| kanal = AD_GIER; // #define AD_GIER 0 |
| break; |
| |
| case 2: // gier gyro |
| gier1 = 512; // Messwert Gier aus dem Gyroskop (drehen um Hochachse) |
| kanal = AD_ACC_Y; // #define AD_ACC_Y 6 // Rollen |
| break; |
| |
| case 3: // y acc roll |
| Aktuell_ay = NeutralAccY - 512; |
| accy = Aktuell_ay; // Messwert Y=Roll des ACC Sensors |
| kanal = AD_ACC_X; // #define AD_ACC_X 7 // Nicken |
| break; |
| |
| case 4: |
| Aktuell_ax = ADC - NeutralAccX; // Messwert X=Nick des ACC Sensors |
| accx = Aktuell_ax; |
| kanal = AD_NICK; // #define AD_NICK 2 |
| break; |
| |
| case 5: |
| nick1 += ADC; // Messwert Nick aus dem Gyroskop (kippen nach vorne-hinten) |
| kanal = AD_ROLL; // #define AD_ROLL 1 |
| break; |
| |
| case 6: |
| roll1 += 512; // Messwert Roll aus dem Gyroskop (kippen nach rechts-links) |
| kanal = AD_UBAT; // #define AD_UBAT 4 |
| break; |
| |
| case 7: |
| UBat = (3 * UBat + ADC / 3) / 4; // Voltage |
| kanal = AD_ACC_Z; // #define AD_ACC_Z 5 |
| break; |
| |
| case 8: // Z acc Sensor |
| AdWertAccHoch = 512 - NeutralAccZ; |
| if(AdWertAccHoch > 1) |
| { |
| if(NeutralAccZ < 750) |
| { |
| NeutralAccZ += 0.02; |
| if(modell_fliegt < 500) NeutralAccZ += 0.1; |
| } |
| } |
| else if(AdWertAccHoch < -1) |
| { |
| if(NeutralAccZ > 550) |
| { |
| NeutralAccZ-= 0.02; |
| if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
| } |
| } |
| messanzahl_AccHoch = 1; // Messwert Z des ACC Sensors |
| Aktuell_az = 512; |
| 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; // #define AD_ROLL 1 |
| break; |
| |
| case 11: |
| roll1 += 512; |
| kanal = AD_GIER; // #define AD_GIER 0 |
| break; |
| |
| case 12: |
| AdWertGier = (512 + gier1); // AdWertGier müsste so um die 1020 liegen |
| kanal = AD_ACC_Y; // #define AD_ACC_Y 6 |
| break; |
| |
| case 13: |
| Aktuell_ay = NeutralAccY - 512; |
| AdWertAccRoll = (Aktuell_ay + accy); // Messwert Roll des ACC Sensors |
| kanal = AD_ACC_X; // #define AD_ACC_X 7 |
| break; |
| |
| case 14: |
| Aktuell_ax = ADC - NeutralAccX; |
| AdWertAccNick = (Aktuell_ax + accx); // 2nd measure of ACC Nick Sensor 0...512 |
| kanal = AD_NICK; // #define AD_NICK 2 |
| break; |
| |
| case 15: |
| nick1 += ADC; |
| nick1 *= 4; |
| AdWertNick = nick1 / 8; // dieser Wert ist doppelt so hoch wie ADC |
| nick_filter = (nick_filter + nick1) / 2; // nick_filter müsste mit ca 500 passen |
| HiResNick = nick_filter - AdNeutralNick; // der Wert wird hier auf den Nullpunkt normiert |
| AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; // und gefiltert |
| kanal = AD_ROLL; // #define AD_ROLL 1 |
| break; |
| |
| case 16: |
| roll1 += 512; |
| roll1 *= 4; |
| AdWertRoll = roll1 / 8; // dieser Wert ist doppelt so hoch wie ADC |
| roll_filter = (roll_filter + roll1) / 2; // ähnlich wie bei Nick in case 15 |
| HiResRoll = roll_filter - AdNeutralRoll; // der Wert wird hier auf den Nullpunkt normiert |
| AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; // und gefiltert |
| kanal = AD_DRUCK; // #define AD_DRUCK 3 |
| break; |
| |
| case 17: |
| state = 0; |
| AdReady = 1; // alle Analogeingänge sind nun bedient worden |
| ZaehlMessungen++; // counts one up as all cases have been passed through |
| // "break" fehlt hier absichtlich |
| case 9: |
| MessLuftdruck = 512; |
| tmpLuftdruck += MessLuftdruck; |
| if(++messanzahl_Druck >= 18) |
| { |
| Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
| HoehenWert = StartLuftdruck - Luftdruck; |
| SummenHoehe -= SummenHoehe / SM_FILTER; // #define SM_FILTER 16 |
| SummenHoehe += HoehenWert; |
| VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
| tmpLuftdruck /= 2; |
| messanzahl_Druck = 18/2; |
| } |
| kanal = AD_NICK; // #define AD_NICK 2 |
| break; |
| |
| default: |
| kanal = 0; state = 0; kanal = AD_NICK; // #define AD_NICK 2 |
| break; |
| } |
| ADMUX = kanal; |
| if(state != 0) ANALOG_ON; // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
| |
| } |
| // EOF : ISR(ADC_vect) **************************************************************************************************************** |
| |
| |
| |