Details | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 308 | osiair | 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 | |||
| 10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
||
| 11 | volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
||
| 12 | volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
||
| 13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
||
| 14 | volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
||
| 15 | volatile long Luftdruck = 32000; |
||
| 16 | volatile int StartLuftdruck; |
||
| 17 | volatile unsigned int MessLuftdruck = 1023; |
||
| 18 | unsigned char DruckOffsetSetting; |
||
| 19 | volatile int HoeheD = 0; |
||
| 20 | volatile char messanzahl_Druck; |
||
| 21 | volatile int tmpLuftdruck; |
||
| 22 | volatile unsigned int ZaehlMessungen = 0; |
||
| 23 | |||
| 24 | //####################################################################################### |
||
| 25 | // |
||
| 26 | void ADC_Init(void) |
||
| 27 | //####################################################################################### |
||
| 28 | { |
||
| 29 | ADMUX = 0;//Referenz ist extern |
||
| 30 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
||
| 31 | //Free Running Mode, Division Factor 128, Interrupt on |
||
| 32 | } |
||
| 33 | |||
| 34 | void SucheLuftruckOffset(void) |
||
| 35 | { |
||
| 36 | unsigned int off; |
||
| 37 | for(off=0; off < 250;off++) |
||
| 38 | { |
||
| 39 | OCR0A = off; |
||
| 40 | Delay_ms(50); |
||
| 41 | printf("."); |
||
| 42 | if(MessLuftdruck < 900) break; |
||
| 43 | } |
||
| 44 | DruckOffsetSetting = off; |
||
| 45 | Delay_ms(200); |
||
| 46 | } |
||
| 47 | |||
| 48 | |||
| 49 | //####################################################################################### |
||
| 50 | // |
||
| 51 | SIGNAL(SIG_ADC) |
||
| 52 | //####################################################################################### |
||
| 53 | { |
||
| 54 | static unsigned char kanal=0,state = 0; |
||
| 55 | signed int wert; |
||
| 56 | ANALOG_OFF; |
||
| 57 | switch(state++) |
||
| 58 | { |
||
| 59 | case 0: |
||
| 60 | wert = (signed int) AdNeutralGier - ADC; |
||
| 61 | AccumulateGier += wert; // |
||
| 62 | MessanzahlGier++; |
||
| 63 | Mess_Integral_Gier += wert;// / 16; |
||
| 64 | Mess_Integral_Gier2 += wert; |
||
| 65 | // GyroKomp_Int += wert; |
||
| 66 | kanal = 1; |
||
| 67 | ZaehlMessungen++; |
||
| 68 | break; |
||
| 69 | case 1: |
||
| 70 | wert = (signed int) ADC - AdNeutralRoll; |
||
| 71 | Mess_IntegralRoll += wert; |
||
| 72 | Mess_IntegralRoll2 += wert; |
||
| 73 | if(ADC < 10) wert = -700; |
||
| 74 | if(ADC > 1000) wert = +700; |
||
| 75 | AccumulateRoll += wert; |
||
| 76 | MessanzahlRoll++; |
||
| 77 | kanal = 2; |
||
| 78 | break; |
||
| 79 | case 2: |
||
| 80 | wert = (signed int) ADC - AdNeutralNick; |
||
| 81 | Mess_IntegralNick += wert; |
||
| 82 | Mess_IntegralNick2 += wert; |
||
| 83 | if(ADC < 10) wert = -700; |
||
| 84 | if(ADC > 1000) wert = +700; |
||
| 85 | AccumulateNick += wert; |
||
| 86 | MessanzahlNick++; |
||
| 87 | kanal = 4; |
||
| 88 | break; |
||
| 89 | case 3: |
||
| 90 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
||
| 91 | kanal = 6; |
||
| 92 | break; |
||
| 93 | case 4: |
||
| 94 | Aktuell_ay = NeutralAccY - ADC; |
||
| 95 | accumulate_AccRoll += Aktuell_ay; |
||
| 96 | messanzahl_AccRoll++; |
||
| 97 | kanal = 7; |
||
| 98 | break; |
||
| 99 | case 5: |
||
| 100 | Aktuell_ax = ADC - NeutralAccX; |
||
| 101 | accumulate_AccNick += Aktuell_ax; |
||
| 102 | messanzahl_AccNick++; |
||
| 103 | kanal = 5; |
||
| 104 | state = 6; |
||
| 105 | break; |
||
| 106 | case 6: |
||
| 107 | accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
||
| 108 | accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
||
| 109 | if(accumulate_AccHoch > 1) |
||
| 110 | { |
||
| 111 | if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
||
| 112 | } |
||
| 113 | else if(accumulate_AccHoch < -1) |
||
| 114 | { |
||
| 115 | if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
||
| 116 | } |
||
| 117 | messanzahl_AccHoch = 1; |
||
| 118 | Aktuell_az = ADC; |
||
| 119 | Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
||
| 120 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
||
| 121 | // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
||
| 122 | /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
||
| 123 | { |
||
| 124 | kanal = 3; |
||
| 125 | state = 7; |
||
| 126 | } |
||
| 127 | else |
||
| 128 | { |
||
| 129 | kanal = 0; |
||
| 130 | state = 0; |
||
| 131 | }*/ |
||
| 132 | kanal = 3; |
||
| 133 | state = 7; |
||
| 134 | break; |
||
| 135 | case 7: |
||
| 136 | tmpLuftdruck += ADC; |
||
| 137 | if(++messanzahl_Druck >= 5) |
||
| 138 | { |
||
| 139 | MessLuftdruck = ADC; |
||
| 140 | messanzahl_Druck = 0; |
||
| 141 | HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
||
| 142 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
||
| 143 | HoehenWert = StartLuftdruck - Luftdruck; |
||
| 144 | tmpLuftdruck = 0; |
||
| 145 | } |
||
| 146 | kanal = 0; |
||
| 147 | state = 0; |
||
| 148 | break; |
||
| 149 | default: |
||
| 150 | kanal = 0; |
||
| 151 | state = 0; |
||
| 152 | break; |
||
| 153 | } |
||
| 154 | ADMUX = kanal; |
||
| 155 | ANALOG_ON; |
||
| 156 | } |