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| Rev | Author | Line No. | Line |
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| 1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + only for non-profit use |
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| 4 | // + www.MikroKopter.com |
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| 5 | // + see the File "License.txt" for further Informations |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 7 | |||
| 8 | #include "main.h" |
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| 9 | |||
| 10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
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| 380 | hbuss | 11 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| 12 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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| 1 | ingob | 13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| 14 | volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
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| 15 | volatile long Luftdruck = 32000; |
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| 16 | volatile int StartLuftdruck; |
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| 17 | volatile unsigned int MessLuftdruck = 1023; |
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| 18 | unsigned char DruckOffsetSetting; |
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| 19 | volatile int HoeheD = 0; |
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| 20 | volatile char messanzahl_Druck; |
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| 21 | volatile int tmpLuftdruck; |
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| 22 | volatile unsigned int ZaehlMessungen = 0; |
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| 23 | |||
| 24 | //####################################################################################### |
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| 25 | // |
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| 26 | void ADC_Init(void) |
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| 27 | //####################################################################################### |
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| 28 | { |
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| 29 | ADMUX = 0;//Referenz ist extern |
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| 30 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
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| 31 | //Free Running Mode, Division Factor 128, Interrupt on |
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| 32 | } |
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| 33 | |||
| 34 | void SucheLuftruckOffset(void) |
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| 35 | { |
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| 36 | unsigned int off; |
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| 173 | holgerb | 37 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| 38 | if(off > 20) off -= 10; |
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| 39 | OCR0A = off; |
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| 380 | hbuss | 40 | Delay_ms_Mess(100); |
| 173 | holgerb | 41 | if(MessLuftdruck < 850) off = 0; |
| 42 | for(; off < 250;off++) |
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| 1 | ingob | 43 | { |
| 44 | OCR0A = off; |
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| 380 | hbuss | 45 | Delay_ms_Mess(50); |
| 1 | ingob | 46 | printf("."); |
| 47 | if(MessLuftdruck < 900) break; |
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| 48 | } |
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| 173 | holgerb | 49 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| 50 | DruckOffsetSetting = off; |
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| 380 | hbuss | 51 | Delay_ms_Mess(300); |
| 1 | ingob | 52 | } |
| 53 | |||
| 54 | |||
| 55 | //####################################################################################### |
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| 56 | // |
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| 57 | SIGNAL(SIG_ADC) |
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| 58 | //####################################################################################### |
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| 59 | { |
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| 60 | static unsigned char kanal=0,state = 0; |
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| 61 | ANALOG_OFF; |
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| 62 | switch(state++) |
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| 63 | { |
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| 64 | case 0: |
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| 380 | hbuss | 65 | AdWertGier = ADC; |
| 1 | ingob | 66 | kanal = 1; |
| 67 | ZaehlMessungen++; |
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| 68 | break; |
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| 69 | case 1: |
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| 380 | hbuss | 70 | AdWertRoll = ADC; |
| 1 | ingob | 71 | kanal = 2; |
| 72 | break; |
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| 73 | case 2: |
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| 380 | hbuss | 74 | AdWertNick = ADC; |
| 1 | ingob | 75 | kanal = 4; |
| 76 | break; |
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| 77 | case 3: |
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| 78 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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| 79 | kanal = 6; |
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| 80 | break; |
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| 81 | case 4: |
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| 82 | Aktuell_ay = NeutralAccY - ADC; |
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| 380 | hbuss | 83 | AdWertAccRoll = Aktuell_ay; |
| 1 | ingob | 84 | kanal = 7; |
| 85 | break; |
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| 86 | case 5: |
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| 128 | ingob | 87 | Aktuell_ax = ADC - NeutralAccX; |
| 380 | hbuss | 88 | AdWertAccNick = Aktuell_ax; |
| 1 | ingob | 89 | kanal = 5; |
| 90 | break; |
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| 91 | case 6: |
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| 380 | hbuss | 92 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| 93 | AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
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| 94 | if(AdWertAccHoch > 1) |
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| 1 | ingob | 95 | { |
| 96 | if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
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| 97 | } |
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| 380 | hbuss | 98 | else if(AdWertAccHoch < -1) |
| 1 | ingob | 99 | { |
| 100 | if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
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| 101 | } |
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| 102 | messanzahl_AccHoch = 1; |
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| 103 | Aktuell_az = ADC; |
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| 380 | hbuss | 104 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| 1 | ingob | 105 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| 380 | hbuss | 106 | kanal = 3; |
| 1 | ingob | 107 | break; |
| 108 | case 7: |
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| 109 | tmpLuftdruck += ADC; |
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| 110 | if(++messanzahl_Druck >= 5) |
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| 111 | { |
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| 112 | MessLuftdruck = ADC; |
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| 113 | messanzahl_Druck = 0; |
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| 114 | HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
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| 115 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
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| 116 | HoehenWert = StartLuftdruck - Luftdruck; |
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| 117 | tmpLuftdruck = 0; |
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| 118 | } |
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| 119 | kanal = 0; |
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| 120 | state = 0; |
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| 121 | break; |
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| 122 | default: |
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| 123 | kanal = 0; |
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| 124 | state = 0; |
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| 125 | break; |
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| 126 | } |
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| 127 | ADMUX = kanal; |
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| 380 | hbuss | 128 | if(state != 0) ANALOG_ON; |
| 1 | ingob | 129 | } |