WebSVN - FlightCtrl - Blame - Rev 1266 - /branches/MartinW

Rev	Author	Line No.	Line
1	ingob	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		2	// + Copyright (c) 04.2007 Holger Buss
		3	// + only for non-profit use
		4	// + www.MikroKopter.com
		5	// + see the File "License.txt" for further Informations
		6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
		7
		8	#include "main.h"
		9	volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
1166	hbuss	10	volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
		11	volatile int HiResNick = 2500, HiResRoll = 2500;
380	hbuss	12	volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
		13	volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
1166	hbuss	14	volatile char messanzahl_AccHoch = 0;
1	ingob	15	volatile long Luftdruck = 32000;
		16	volatile int StartLuftdruck;
		17	volatile unsigned int MessLuftdruck = 1023;
		18	unsigned char DruckOffsetSetting;
1036	hbuss	19	signed char ExpandBaro = 0;
1253	killagreg	20	volatile int VarioMeter = 0;
1	ingob	21	volatile unsigned int ZaehlMessungen = 0;
918	hbuss	22	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
		23	unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0;
1168	hbuss	24	volatile unsigned char AdReady = 1;
1	ingob	25	//#######################################################################################
		26	//
		27	void ADC_Init(void)
		28	//#######################################################################################
1246	killagreg	29	{
1	ingob	30	ADMUX = 0;//Referenz ist extern
1155	hbuss	31	ANALOG_ON;
1	ingob	32	}
		33
		34	void SucheLuftruckOffset(void)
		35	{
		36	unsigned int off;
173	holgerb	37	off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
		38	if(off > 20) off -= 10;
		39	OCR0A = off;
1036	hbuss	40	ExpandBaro = 0;
380	hbuss	41	Delay_ms_Mess(100);
173	holgerb	42	if(MessLuftdruck < 850) off = 0;
		43	for(; off < 250;off++)
1	ingob	44	{
		45	OCR0A = off;
380	hbuss	46	Delay_ms_Mess(50);
1246	killagreg	47	printf(".");
1036	hbuss	48	if(MessLuftdruck < 850) break;
1	ingob	49	}
173	holgerb	50	eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
		51	DruckOffsetSetting = off;
380	hbuss	52	Delay_ms_Mess(300);
1	ingob	53	}
		54
918	hbuss	55	void SucheGyroOffset(void)
		56	{
		57	unsigned char i, ready = 0;
1219	hbuss	58	int timeout;
918	hbuss	59	GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0;
1219	hbuss	60	timeout = SetDelay(2000);
918	hbuss	61	for(i=140; i != 0; i--)
		62	{
921	hbuss	63	if(ready == 3 && i > 10) i = 9;
918	hbuss	64	ready = 0;
		65	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
		66	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
		67	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
1246	killagreg	68	twi_state = 8;
		69	i2c_start();
		70	if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;};
		71	if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;};
		72	if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;};
1219	hbuss	73	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
1253	killagreg	74	AdReady = 0;
918	hbuss	75	ANALOG_ON;
1253	killagreg	76	while(!AdReady);
1246	killagreg	77	if(i<10) Delay_ms_Mess(10);
918	hbuss	78	}
1246	killagreg	79	Delay_ms_Mess(70);
		80	}
1	ingob	81
1171	hbuss	82	/*
		83
		84	1 r
1246	killagreg	85	2 g
1171	hbuss	86	3 y
		87	4 x
		88	5 n
		89	6 r
		90	7 u
		91	8 z
		92	9 L
1246	killagreg	93	10 n
1171	hbuss	94	11 r
		95	12 g
		96	13 y
		97	14 x
		98	15 n
		99	16 r
		100	17 L
		101	*/
		102
1	ingob	103	//#######################################################################################
		104	//
		105	SIGNAL(SIG_ADC)
		106	//#######################################################################################
		107	{
		108	static unsigned char kanal=0,state = 0;
1246	killagreg	109	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
1171	hbuss	110	static signed int accy, accx;
1253	killagreg	111
		112	static long tmpLuftdruck = 0;
		113	static char messanzahl_Druck = 0;
		114	static long SummenHoehe = 0;
		115
1171	hbuss	116	switch(state++)
		117	{
		118	case 0:
		119	nick1 = ADC;
		120	kanal = AD_ROLL;
		121	break;
		122	case 1:
		123	roll1 = ADC;
		124	kanal = AD_GIER;
		125	break;
		126	case 2:
		127	gier1 = ADC;
		128	kanal = AD_ACC_Y;
		129	break;
		130	case 3:
		131	Aktuell_ay = NeutralAccY - ADC;
		132	accy = Aktuell_ay;
		133	kanal = AD_ACC_X;
		134	break;
		135	case 4:
		136	Aktuell_ax = ADC - NeutralAccX;
		137	accx = Aktuell_ax;
		138	kanal = AD_NICK;
		139	break;
		140	case 5:
		141	nick1 += ADC;
		142	kanal = AD_ROLL;
		143	break;
		144	case 6:
		145	roll1 += ADC;
		146	kanal = AD_UBAT;
		147	break;
		148	case 7:
		149	UBat = (3 * UBat + ADC / 3) / 4;
		150	kanal = AD_ACC_Z;
		151	break;
		152	case 8:
		153	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
1246	killagreg	154	if(AdWertAccHoch > 1)
1171	hbuss	155	{
1246	killagreg	156	if(NeutralAccZ < 750)
1171	hbuss	157	{
1246	killagreg	158	NeutralAccZ += 0.02;
		159	if(modell_fliegt < 500) NeutralAccZ += 0.1;
		160	}
		161	}
1171	hbuss	162	else if(AdWertAccHoch < -1)
		163	{
1246	killagreg	164	if(NeutralAccZ > 550)
1171	hbuss	165	{
		166	NeutralAccZ-= 0.02;
1246	killagreg	167	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
		168	}
		169	}
1171	hbuss	170	messanzahl_AccHoch = 1;
		171	Aktuell_az = ADC;
		172	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
		173	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // d�mfen
		174	kanal = AD_DRUCK;
		175	break;
		176	// "case 8:" fehlt hier absichtlich
		177	case 10:
		178	nick1 += ADC;
		179	kanal = AD_ROLL;
		180	break;
		181	case 11:
		182	roll1 += ADC;
		183	kanal = AD_GIER;
		184	break;
		185	case 12:
		186	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
1246	killagreg	187	else
1171	hbuss	188	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1);
		189	else AdWertGier = (ADC + gier1);
		190	kanal = AD_ACC_Y;
		191	break;
		192	case 13:
		193	Aktuell_ay = NeutralAccY - ADC;
		194	AdWertAccRoll = (Aktuell_ay + accy);
		195	kanal = AD_ACC_X;
		196	break;
		197	case 14:
		198	Aktuell_ax = ADC - NeutralAccX;
		199	AdWertAccNick = (Aktuell_ax + accx);
		200	kanal = AD_NICK;
		201	break;
		202	case 15:
		203	nick1 += ADC;
1173	hbuss	204	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
		205	AdWertNick = nick1 / 8;
		206	nick_filter = (nick_filter + nick1) / 2;
		207	HiResNick = nick_filter - AdNeutralNick;
1171	hbuss	208	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
		209	kanal = AD_ROLL;
		210	break;
		211	case 16:
		212	roll1 += ADC;
1173	hbuss	213	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
		214	AdWertRoll = roll1 / 8;
		215	roll_filter = (roll_filter + roll1) / 2;
		216	HiResRoll = roll_filter - AdNeutralRoll;
1171	hbuss	217	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
		218	kanal = AD_DRUCK;
		219	break;
		220	case 17:
		221	state = 0;
		222	AdReady = 1;
		223	ZaehlMessungen++;
		224	// "break" fehlt hier absichtlich
		225	case 9:
1253	killagreg	226	MessLuftdruck = ADC;
		227	tmpLuftdruck += MessLuftdruck;
		228	if(++messanzahl_Druck >= 18)
		229	{
1266	killagreg	230	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step
1253	killagreg	231	HoehenWert = StartLuftdruck - Luftdruck;
		232	SummenHoehe -= SummenHoehe/8;
		233	SummenHoehe += HoehenWert;
		234	VarioMeter = (3 * VarioMeter + 25 * (int)(HoehenWert - SummenHoehe/8))/4;
		235	tmpLuftdruck = 0;
1171	hbuss	236	messanzahl_Druck = 0;
1253	killagreg	237	}
1171	hbuss	238	kanal = AD_NICK;
		239	break;
1246	killagreg	240	default:
1171	hbuss	241	kanal = 0; state = 0; kanal = AD_NICK;
		242	break;
1246	killagreg	243	}
1171	hbuss	244	ADMUX = kanal;
		245	if(state != 0) ANALOG_ON;
		246	}
		247
		248
		249
		250	/*
		251	//#######################################################################################
		252	//
		253	SIGNAL(SIG_ADC)
		254	//#######################################################################################
		255	{
		256	static unsigned char kanal=0,state = 0;
1166	hbuss	257	static signed int gier1, roll1, nick1;
1246	killagreg	258	static signed long nick_filter, roll_filter;
1166	hbuss	259	static signed int accy, accx;
		260	switch(state++)
		261	{
		262	case 0:
		263	nick1 = ADC;
		264	kanal = AD_ROLL;
		265	break;
		266	case 1:
		267	roll1 = ADC;
		268	kanal = AD_GIER;
		269	break;
		270	case 2:
		271	gier1 = ADC;
		272	kanal = AD_ACC_Y;
		273	break;
		274	case 3:
		275	Aktuell_ay = NeutralAccY - ADC;
		276	accy = Aktuell_ay;
		277	kanal = AD_NICK;
		278	break;
		279	case 4:
		280	nick1 += ADC;
		281	kanal = AD_ROLL;
		282	break;
		283	case 5:
		284	roll1 += ADC;
		285	kanal = AD_ACC_Z;
		286	break;
		287	case 6:
		288	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
1246	killagreg	289	if(AdWertAccHoch > 1)
1166	hbuss	290	{
1246	killagreg	291	if(NeutralAccZ < 750)
1166	hbuss	292	{
1246	killagreg	293	NeutralAccZ += 0.02;
		294	if(modell_fliegt < 500) NeutralAccZ += 0.1;
		295	}
		296	}
1166	hbuss	297	else if(AdWertAccHoch < -1)
		298	{
1246	killagreg	299	if(NeutralAccZ > 550)
1166	hbuss	300	{
		301	NeutralAccZ-= 0.02;
1246	killagreg	302	if(modell_fliegt < 500) NeutralAccZ -= 0.1;
		303	}
		304	}
1166	hbuss	305	messanzahl_AccHoch = 1;
		306	Aktuell_az = ADC;
		307	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
		308	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // d�mfen
		309	kanal = AD_NICK;
		310	break;
		311	case 7:
		312	nick1 += ADC;
		313	kanal = AD_ROLL;
		314	break;
		315	case 8:
		316	roll1 += ADC;
		317	kanal = AD_ACC_X;
		318	break;
		319	case 9:
		320	Aktuell_ax = ADC - NeutralAccX;
		321	accx = Aktuell_ax;
		322	kanal = AD_GIER;
		323	break;
		324	case 10:
		325	gier1 += ADC;
		326	kanal = AD_NICK;
		327	break;
		328	case 11:
		329	nick1 += ADC;
		330	kanal = AD_ROLL;
		331	break;
		332	case 12:
		333	roll1 += ADC;
		334	kanal = AD_UBAT;
		335	break;
		336	case 13:
		337	UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2;
		338	kanal = AD_ACC_Y;
		339	break;
		340	case 14:
		341	Aktuell_ay = NeutralAccY - ADC;
		342	accy += Aktuell_ay;
		343	kanal = AD_NICK;
		344	break;
		345	case 15:
		346	nick1 += ADC;
		347	kanal = AD_ROLL;
		348	break;
		349	case 16:
		350	roll1 += ADC;
		351	kanal = AD_ACC_X;
		352	break;
		353	case 17:
		354	Aktuell_ax = ADC - NeutralAccX;
		355	accx += Aktuell_ax;
		356	kanal = AD_NICK;
		357	break;
		358	case 18:
		359	nick1 += ADC;
		360	kanal = AD_ROLL;
		361	break;
		362	case 19:
		363	roll1 += ADC;
		364	kanal = AD_GIER;
		365	break;
		366	case 20:
		367	gier1 += ADC;
		368	kanal = AD_ACC_Y;
		369	break;
		370	case 21:
		371	Aktuell_ay = NeutralAccY - ADC;
		372	accy += Aktuell_ay;
		373	kanal = AD_NICK;
		374	break;
		375	case 22:
		376	nick1 += ADC;
		377	kanal = AD_ROLL;
		378	break;
		379	case 23:
		380	roll1 += ADC;
		381	kanal = AD_DRUCK;
		382	break;
		383	case 24:
		384	tmpLuftdruck += ADC;
1246	killagreg	385	if(++messanzahl_Druck >= 5)
1166	hbuss	386	{
		387	MessLuftdruck = ADC;
		388	messanzahl_Druck = 0;
1167	hbuss	389	HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert
1166	hbuss	390	Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
		391	HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck;
		392	tmpLuftdruck = 0;
1246	killagreg	393	}
1166	hbuss	394	kanal = AD_NICK;
		395	break;
		396	case 25:
		397	nick1 += ADC;
		398	kanal = AD_ROLL;
		399	break;
		400	case 26:
		401	roll1 += ADC;
		402	kanal = AD_ACC_X;
		403	break;
		404	case 27:
		405	Aktuell_ax = ADC - NeutralAccX;
		406	accx += Aktuell_ax;
		407	kanal = AD_GIER;
		408	break;
		409	case 28:
		410	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4;
1246	killagreg	411	else
1166	hbuss	412	if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2;
		413	else AdWertGier = (ADC + gier1 + 1) / 2;
		414	kanal = AD_NICK;
		415	break;
		416	case 29:
		417	nick1 += ADC;
		418	kanal = AD_ROLL;
		419	break;
		420	case 30:
		421	roll1 += ADC;
		422	kanal = AD_ACC_Y;
		423	break;
		424	case 31:
		425	Aktuell_ay = NeutralAccY - ADC;
		426	AdWertAccRoll = (Aktuell_ay + accy);
		427	kanal = AD_NICK;
		428	break;
		429	case 32:
		430	AdWertNick = (ADC + nick1 + 3) / 5;
		431	nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2;
		432	if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;}
		433	HiResNick = nick_filter - 20 * AdNeutralNick;
		434	AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4;
1246	killagreg	435	DebugOut.Analog[21] = AdWertNickFilter / 4;
1166	hbuss	436	kanal = AD_ROLL;
		437	break;
		438	case 33:
		439	AdWertRoll = (ADC + roll1 + 3) / 5;
		440	roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2;
		441	if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;}
		442	HiResRoll = roll_filter - 20 * AdNeutralRoll;
		443	AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4;
		444	DebugOut.Analog[22] = AdWertRollFilter / 4;
		445	kanal = AD_ACC_X;
		446	break;
		447	case 34:
		448	Aktuell_ax = ADC - NeutralAccX;
		449	AdWertAccNick = (Aktuell_ax + accx);
		450	kanal = AD_NICK;
		451	state = 0;
		452	AdReady = 1;
		453	ZaehlMessungen++;
		454	break;
1246	killagreg	455	default:
1166	hbuss	456	kanal = 0;
		457	state = 0;
		458	break;
1246	killagreg	459	}
1166	hbuss	460	ADMUX = kanal;
		461	if(state != 0) ANALOG_ON;
		462	}
1171	hbuss	463	*/

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(root)/branches/MartinW_Jeti+/analog.c @ 2089 - Rev 1266