WebSVN - FlightCtrl - Diff - Rev 687 and 701 - /branches/V0.68d Code Redesign killagreg/analog.c

 #include "timer0.h"
 #include "fc.h"
 #include "printf_P.h"
 #include "eeprom.h"
-volatile int16_t Current_Nick = 0, Current_Roll = 0, Current_Gier = 0;
+volatile int16_t Current_Pitch = 0, Current_Roll = 0, Current_Yaw = 0;
 volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0;
 volatile int16_t UBat = 100;
-volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrGier = 0;
+volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
-volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0;
+volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;
 volatile uint8_t messanzahl_AccHoch = 0;
-volatile int32_t Luftdruck = 32000;
+volatile int32_t AirPressure = 32000;
-volatile int16_t StartLuftdruck;
+volatile int16_t StartAirPressure;
-volatile uint16_t MessLuftdruck = 1023;
+volatile uint16_t ReadingAirPressure = 1023;
 uint8_t DruckOffsetSetting;
 volatile int16_t HoeheD = 0;
-volatile int16_t tmpLuftdruck;
+volatile int16_t tmpAirPressure;
 volatile uint16_t ZaehlMessungen = 0;
 /*****************************************************/
         ADC_Enable();
     // restore global interrupt flags
     SREG = sreg;
+}
-void SucheLuftruckOffset(void)
+void SearchAirPressureOffset(void)
+{
  uint8_t off;
  off = GetParamByte(PID_LAST_OFFSET);
  if(off > 20) off -= 10;
  OCR0A = off;
  Delay_ms_Mess(100);
- if(MessLuftdruck < 850) off = 0;
+ if(ReadingAirPressure < 850) off = 0;
  for(; off < 250;off++)
+  {
   OCR0A = off;
   Delay_ms_Mess(50);
   printf(".");
-  if(MessLuftdruck < 900) break;
+  if(ReadingAirPressure < 900) break;
+  }
  SetParamByte(PID_LAST_OFFSET, off);
  DruckOffsetSetting = off;
  Delay_ms_Mess(300);
 /*     Interrupt Service Routine for ADC             */
 /*****************************************************/
 ISR(ADC_vect)
+{
     static uint8_t adc_channel = 0, state = 0;
-    static uint16_t gier1, roll1, nick1;
+    static uint16_t yaw1, roll1, pitch1;
     static uint8_t messanzahl_Druck = 0;
     // disable further AD conversion
     ADC_Disable();
     // state machine
     switch(state++)
+        {
         case 0:
-            gier1 = ADC; // get Gyro Gier Voltage 1st sample
+            yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
             adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
             ZaehlMessungen++; // increment total measurement counter
             break;
         case 1:
             roll1 = ADC; // get Gyro Roll Voltage 1st sample
-            adc_channel = 2; // set next channel to ADC2 = NICK GYRO
+            adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
             break;
         case 2:
-            nick1 = ADC; // get Gyro Nick Voltage 1st sample
+            pitch1 = ADC; // get Gyro Pitch Voltage 1st sample
             adc_channel = 4; // set next channel to ADC4 = UBAT
             break;
         case 3:
                 // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3
             UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
             AdValueAccRoll = Current_AccY;
             adc_channel = 7; // set next channel to ADC7 = ACC_X
             break;
         case 5:
             Current_AccX = ADC - NeutralAccX; // get acceleration in X direction
-            AdValueAccNick =  Current_AccX;
+            AdValueAccPitch =  Current_AccX;
-                    adc_channel = 0; // set next channel to ADC7 = GIER GYRO
+                    adc_channel = 0; // set next channel to ADC7 = YAW GYRO
             break;
         case 6:
-                // average over two samples to create current ADValueGier
+                // average over two samples to create current AdValueGyrYaw
-            if(BoardRelease == 10)  AdValueGyrGier = (ADC + gier1) / 2;
+            if(BoardRelease == 10)  AdValueGyrYaw = (ADC + yaw1) / 2;
-                        else                                       AdValueGyrGier = ADC + gier1; // gain is 2 times lower on FC 1.1
+                        else                                       AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1
             adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
             break;
         case 7:
-                // average over two samples to create current ADValueRoll
+                // 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 = NICK GYRO
+            adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
             break;
         case 8:
-                // average over two samples to create current ADValueNick
+                // average over two samples to create current ADValuePitch
-            if(BoardRelease == 10)  AdValueGyrNick = (ADC + nick1) / 2;
+            if(BoardRelease == 10)  AdValueGyrPitch = (ADC + pitch1) / 2;
-                        else                                       AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1
+                        else                                       AdValueGyrPitch = ADC + pitch1; // 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
+             {
               if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
+             }
             messanzahl_AccHoch = 1;
             Current_AccZ = ADC;
-            Mess_Integral_Hoch += AdValueAccTop;      // Integrieren
+            Reading_Integral_Top += AdValueAccTop;      // Integrieren
-            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
+            Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
                 adc_channel = 3; // set next channel to ADC3 = air pressure
             break;
         case 10:
-            tmpLuftdruck += ADC; // sum vadc values
+            tmpAirPressure += ADC; // sum vadc values
             if(++messanzahl_Druck >= 5) // if 5 values are summerized for averaging
+                {
-                MessLuftdruck = ADC; // update measured air pressure
+                ReadingAirPressure = ADC; // update measured air pressure
                 messanzahl_Druck = 0; // reset air pressure measurement counter
-                                HoeheD = (int16_t)(StartLuftdruck - tmpLuftdruck - HoehenWert);  // D-Anteil = neuerWert - AlterWert
+                                HoeheD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHight);  // D-Anteil = neuerWert - AlterWert
-                Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; // averaging using history
+                AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history
-                HoehenWert = StartLuftdruck - Luftdruck;
+                ReadingHight = StartAirPressure - AirPressure;
-                tmpLuftdruck = 0;
+                tmpAirPressure = 0;
+                }
             adc_channel = 0; // set next channel to ADC0 = GIER GYRO
             state = 0; // reset state
             break;
         default:

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(root)/branches/V0.68d Code Redesign killagreg/analog.c - Rev 687 → 701