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| 2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
| 3 | // + only for non-profit use |
3 | // + only for non-profit use |
| 4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
| 5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| - | 7 | #include <stdlib.h> |
|
| - | 8 | #include <avr/io.h> |
|
| - | 9 | #include <avr/interrupt.h> |
|
| Line -... | Line 10... | ||
| - | 10 | ||
| 7 | 11 | #include "analog.h" |
|
| - | 12 | #include "main.h" |
|
| - | 13 | #include "timer0.h" |
|
| - | 14 | #include "fc.h" |
|
| - | 15 | #include "printf_P.h" |
|
| 8 | #include "main.h" |
16 | #include "eeprom.h" |
| 9 | - | ||
| 10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
17 | |
| 11 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
18 | volatile int16_t Current_AccZ = 0; |
| 12 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
19 | volatile int16_t UBat = 100; |
| 13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
20 | volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0; |
| 14 | volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
21 | volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0; |
| 15 | volatile long Luftdruck = 32000; |
22 | volatile int32_t AirPressure = 32000; |
| 16 | volatile int StartLuftdruck; |
23 | volatile int16_t StartAirPressure; |
| 17 | volatile unsigned int MessLuftdruck = 1023; |
24 | volatile uint16_t ReadingAirPressure = 1023; |
| 18 | unsigned char DruckOffsetSetting; |
25 | uint8_t PressureSensorOffset; |
| 19 | volatile int HoeheD = 0; |
- | |
| 20 | volatile char messanzahl_Druck; |
- | |
| 21 | volatile int tmpLuftdruck; |
26 | volatile int16_t HeightD = 0; |
| 22 | volatile unsigned int ZaehlMessungen = 0; |
27 | volatile uint16_t MeasurementCounter = 0; |
| 23 | 28 | ||
| 24 | //####################################################################################### |
- | |
| - | 29 | /*****************************************************/ |
|
| - | 30 | /* Initialize Analog Digital Converter */ |
|
| 25 | // |
31 | /*****************************************************/ |
| 26 | void ADC_Init(void) |
- | |
| 27 | //####################################################################################### |
32 | void ADC_Init(void) |
| - | 33 | { |
|
| - | 34 | uint8_t sreg = SREG; |
|
| - | 35 | // disable all interrupts before reconfiguration |
|
| - | 36 | cli(); |
|
| - | 37 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
|
| - | 38 | DDRA = 0x00; |
|
| - | 39 | PORTA = 0x00; |
|
| - | 40 | // Digital Input Disable Register 0 |
|
| - | 41 | // Disable digital input buffer for analog adc_channel pins |
|
| - | 42 | DIDR0 = 0xFF; |
|
| - | 43 | // external reference, adjust data to the right |
|
| - | 44 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
|
| 28 | { |
45 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| - | 46 | ADMUX = (ADMUX & 0xE0) | 0x00; |
|
| - | 47 | //Set ADC Control and Status Register A |
|
| 29 | ADMUX = 0;//Referenz ist extern |
48 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
| - | 49 | ADCSRA = (1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
|
| - | 50 | //Set ADC Control and Status Register B |
|
| - | 51 | //Trigger Source to Free Running Mode |
|
| - | 52 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
|
| - | 53 | // Enable AD conversion |
|
| 30 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
54 | ADC_Enable(); |
| - | 55 | // restore global interrupt flags |
|
| 31 | //Free Running Mode, Division Factor 128, Interrupt on |
56 | SREG = sreg; |
| Line 32... | Line 57... | ||
| 32 | } |
57 | } |
| 33 | 58 | ||
| 34 | void SucheLuftruckOffset(void) |
59 | void SearchAirPressureOffset(void) |
| 35 | { |
60 | { |
| 36 | unsigned int off; |
61 | uint8_t off; |
| 37 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
62 | off = GetParamByte(PID_PRESSURE_OFFSET); |
| 38 | if(off > 20) off -= 10; |
63 | if(off > 20) off -= 10; |
| 39 | OCR0A = off; |
64 | OCR0A = off; |
| 40 | Delay_ms_Mess(100); |
65 | Delay_ms_Mess(100); |
| 41 | if(MessLuftdruck < 850) off = 0; |
66 | if(ReadingAirPressure < 850) off = 0; |
| 42 | for(; off < 250;off++) |
67 | for(; off < 250;off++) |
| 43 | { |
68 | { |
| 44 | OCR0A = off; |
69 | OCR0A = off; |
| 45 | Delay_ms_Mess(50); |
70 | Delay_ms_Mess(50); |
| 46 | printf("."); |
71 | printf("."); |
| 47 | if(MessLuftdruck < 900) break; |
72 | if(ReadingAirPressure < 900) break; |
| 48 | } |
73 | } |
| 49 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
74 | SetParamByte(PID_PRESSURE_OFFSET, off); |
| 50 | DruckOffsetSetting = off; |
75 | PressureSensorOffset = off; |
| Line -... | Line 76... | ||
| - | 76 | Delay_ms_Mess(300); |
|
| - | 77 | } |
|
| - | 78 | ||
| - | 79 | ||
| - | 80 | /*****************************************************/ |
|
| - | 81 | /* Interrupt Service Routine for ADC */ |
|
| - | 82 | /*****************************************************/ |
|
| - | 83 | // runs at 156.25 kHz or 6.4 µs |
|
| - | 84 | // if after (70.4µs) all 11 states are processed the interrupt is disabled |
|
| - | 85 | // and the update of further ads is stopped |
|
| - | 86 | // The routine changes the ADC input muxer running |
|
| - | 87 | // thru the state machine by the following order. |
|
| - | 88 | // state 0: ch0 (yaw gyro) |
|
| - | 89 | // state 1: ch1 (roll gyro) |
|
| - | 90 | // state 2: ch2 (pitch gyro) |
|
| - | 91 | // state 3: ch4 (battery voltage -> UBat) |
|
| - | 92 | // state 4: ch6 (acc y -> Current_AccY) |
|
| - | 93 | // state 5: ch7 (acc x -> Current_AccX) |
|
| 51 | Delay_ms_Mess(300); |
94 | // state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw) |
| 52 | } |
95 | // state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll) |
| 53 | 96 | // state 8: ch2 (pitch gyro average with first reading -> AdValueGyrPitch) |
|
| 54 | - | ||
| 55 | //####################################################################################### |
97 | // state 9: ch5 (acc z add also 4th part of acc x and acc y to reading) |
| 56 | // |
98 | // state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure) |
| 57 | SIGNAL(SIG_ADC) |
99 | |
| - | 100 | ISR(ADC_vect) |
|
| - | 101 | { |
|
| - | 102 | static uint8_t adc_channel = 0, state = 0; |
|
| 58 | //####################################################################################### |
103 | static uint16_t yaw1, roll1, pitch1; |
| - | 104 | static uint8_t average_pressure = 0; |
|
| 59 | { |
105 | static int16_t tmpAirPressure = 0; |
| 60 | static unsigned char kanal=0,state = 0; |
106 | // disable further AD conversion |
| 61 | static unsigned int gier1, roll1, nick1; |
107 | ADC_Disable(); |
| 62 | ANALOG_OFF; |
108 | // state machine |
| 63 | switch(state++) |
109 | switch(state++) |
| 64 | { |
110 | { |
| 65 | case 0: |
111 | case 0: |
| 66 | gier1 = ADC; |
112 | yaw1 = ADC; // get Gyro Yaw Voltage 1st sample |
| 67 | kanal = 1; |
113 | adc_channel = 1; // set next channel to ADC1 = ROLL GYRO |
| 68 | ZaehlMessungen++; |
114 | MeasurementCounter++; // increment total measurement counter |
| 69 | break; |
115 | break; |
| 70 | case 1: |
116 | case 1: |
| 71 | roll1 = ADC; |
117 | roll1 = ADC; // get Gyro Roll Voltage 1st sample |
| 72 | kanal = 2; |
118 | adc_channel = 2; // set next channel to ADC2 = PITCH GYRO |
| 73 | break; |
119 | break; |
| 74 | case 2: |
120 | case 2: |
| - | 121 | pitch1 = ADC; // get Gyro Pitch Voltage 1st sample |
|
| 75 | nick1 = ADC; |
122 | adc_channel = 4; // set next channel to ADC4 = UBAT |
| 76 | kanal = 4; |
123 | break; |
| 77 | break; |
124 | case 3: |
| 78 | case 3: |
125 | // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3 |
| 79 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
126 | UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value |
| 80 | kanal = 6; |
127 | adc_channel = 6; // set next channel to ADC6 = ACC_Y |
| 81 | break; |
- | |
| 82 | case 4: |
128 | break; |
| 83 | Aktuell_ay = NeutralAccY - ADC; |
129 | case 4: |
| 84 | AdWertAccRoll = Aktuell_ay; |
130 | AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction |
| 85 | kanal = 7; |
131 | adc_channel = 7; // set next channel to ADC7 = ACC_X |
| 86 | break; |
- | |
| 87 | case 5: |
132 | break; |
| 88 | Aktuell_ax = ADC - NeutralAccX; |
133 | case 5: |
| - | 134 | AdValueAccPitch = ADC - NeutralAccX; // get acceleration in X direction |
|
| 89 | AdWertAccNick = Aktuell_ax; |
135 | adc_channel = 0; // set next channel to ADC7 = YAW GYRO |
| 90 | kanal = 0; |
136 | break; |
| 91 | break; |
137 | case 6: |
| 92 | case 6: |
138 | // average over two samples to create current AdValueGyrYaw |
| 93 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
139 | if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2; |
| - | 140 | else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1 |
|
| 94 | else AdWertGier = ADC + gier1; |
141 | adc_channel = 1; // set next channel to ADC7 = ROLL GYRO |
| 95 | kanal = 1; |
142 | break; |
| 96 | break; |
143 | case 7: |
| 97 | case 7: |
144 | // average over two samples to create current ADValueGyrRoll |
| 98 | if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
145 | if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2; |
| - | 146 | else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1 |
|
| 99 | else AdWertRoll = ADC + roll1; |
147 | adc_channel = 2; // set next channel to ADC2 = PITCH GYRO |
| 100 | kanal = 2; |
148 | break; |
| 101 | break; |
- | |
| 102 | case 8: |
- | |
| 103 | if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
149 | case 8: |
| 104 | else AdWertNick = ADC + nick1; |
150 | // average over two samples to create current ADValuePitch |
| 105 | //AdWertNick = 0; |
151 | if(BoardRelease == 10) AdValueGyrPitch = (ADC + pitch1) / 2; |
| - | 152 | else AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1 |
|
| 106 | //AdWertNick += Poti2; |
153 | adc_channel = 5; // set next channel to ADC5 = ACC_Z |
| 107 | kanal = 5; |
154 | break; |
| 108 | break; |
155 | case 9: |
| 109 | case 9: |
156 | // get z acceleration |
| 110 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
157 | AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction |
| 111 | // AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
158 | AdValueAccTop += abs(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4; |
| 112 | if(AdWertAccHoch > 1) |
159 | if(AdValueAccTop > 1) |
| 113 | { |
160 | { |
| 114 | if(NeutralAccZ < 750) |
161 | if(NeutralAccZ < 750) |
| 115 | { |
162 | { |
| 116 | NeutralAccZ += 0.02; |
163 | NeutralAccZ += 0.02; |
| 117 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
164 | if(Model_Is_Flying < 500) NeutralAccZ += 0.1; |
| 118 | } |
165 | } |
| 119 | } |
166 | } |
| 120 | else if(AdWertAccHoch < -1) |
167 | else if(AdValueAccTop < -1) |
| 121 | { |
168 | { |
| 122 | if(NeutralAccZ > 550) |
169 | if(NeutralAccZ > 550) |
| 123 | { |
170 | { |
| 124 | NeutralAccZ-= 0.02; |
- | |
| 125 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
171 | NeutralAccZ-= 0.02; |
| 126 | } |
172 | if(Model_Is_Flying < 500) NeutralAccZ -= 0.1; |
| 127 | } |
173 | } |
| 128 | messanzahl_AccHoch = 1; |
174 | } |
| 129 | Aktuell_az = ADC; |
175 | Current_AccZ = ADC; |
| 130 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
176 | Reading_Integral_Top += AdValueAccTop; // Integrieren |
| 131 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
177 | Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen |
| 132 | kanal = 3; |
178 | adc_channel = 3; // set next channel to ADC3 = air pressure |
| 133 | break; |
179 | break; |
| 134 | case 10: |
180 | case 10: |
| 135 | tmpLuftdruck += ADC; |
- | |
| 136 | if(++messanzahl_Druck >= 5) |
181 | tmpAirPressure += ADC; // sum vadc values |
| 137 | { |
182 | if(++average_pressure >= 5) // if 5 values are summerized for averaging |
| 138 | MessLuftdruck = ADC; |
183 | { |
| - | 184 | ReadingAirPressure = ADC; // update measured air pressure |
|
| 139 | messanzahl_Druck = 0; |
185 | HeightD = (7 * HeightD + (int16_t)FCParam.Height_D * (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight))/8; // D-Part = CurrentValue - OldValue |
| 140 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(StartLuftdruck - tmpLuftdruck - HoehenWert))/8; // D-Anteil = neuerWert - AlterWert |
186 | AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
| 141 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
187 | ReadingHeight = StartAirPressure - AirPressure; |
| 142 | HoehenWert = StartLuftdruck - Luftdruck; |
188 | average_pressure = 0; // reset air pressure measurement counter |
| 143 | tmpLuftdruck = 0; |
189 | tmpAirPressure = 0; |
| 144 | } |
190 | } |
| 145 | kanal = 0; |
191 | adc_channel = 0; // set next channel to ADC0 = GIER GYRO |
| 146 | state = 0; |
192 | state = 0; // reset state machine |
| 147 | break; |
193 | break; |
| 148 | default: |
194 | default: |
| - | 195 | adc_channel = 0; |
|
| 149 | kanal = 0; |
196 | state = 0; |
| - | 197 | break; |
|
| 150 | state = 0; |
198 | } |
| 151 | break; |
199 | // set adc muxer to next adc_channel |