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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 889 | Nick666 | 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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| 11 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
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| 12 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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| 13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
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| 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 unsigned int ZaehlMessungen = 0; |
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| 21 | |||
| 22 | //####################################################################################### |
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| 23 | // |
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| 24 | void ADC_Init(void) |
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| 25 | //####################################################################################### |
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| 26 | { |
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| 27 | ADMUX = 0;//Referenz ist extern |
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| 28 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
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| 29 | //Single Conversion, Division Factor 128, Interrupt on |
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| 30 | } |
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| 31 | |||
| 32 | void SucheLuftruckOffset(void) |
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| 33 | { |
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| 34 | unsigned int off; |
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| 35 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
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| 36 | if(off > 20) off -= 10; |
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| 37 | OCR0A = off; |
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| 38 | Delay_ms_Mess(100); |
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| 39 | if(MessLuftdruck < 850) off = 0; |
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| 40 | for(; off < 250;off++) |
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| 41 | { |
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| 42 | OCR0A = off; |
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| 43 | Delay_ms_Mess(50); |
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| 44 | printf("."); |
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| 45 | if(MessLuftdruck < 900) break; |
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| 46 | } |
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| 47 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
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| 48 | DruckOffsetSetting = off; |
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| 49 | Delay_ms_Mess(300); |
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| 50 | } |
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| 51 | |||
| 52 | |||
| 53 | //####################################################################################### |
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| 54 | // |
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| 55 | SIGNAL(SIG_ADC) |
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| 56 | //####################################################################################### |
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| 57 | { |
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| 902 | Nick666 | 58 | static char messanzahl_Druck; |
| 59 | static int tmpLuftdruck; |
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| 889 | Nick666 | 60 | static unsigned char state = 0; |
| 61 | static unsigned int gier1, roll1, nick1; |
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| 62 | |||
| 63 | switch(state++) |
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| 64 | { |
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| 65 | case 0: |
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| 66 | gier1 = ADC; |
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| 67 | ADMUX = 1; |
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| 68 | ZaehlMessungen++; |
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| 69 | break; |
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| 70 | case 1: |
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| 71 | roll1 = ADC; |
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| 72 | ADMUX = 2; |
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| 73 | break; |
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| 74 | case 2: |
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| 75 | nick1 = ADC; |
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| 76 | ADMUX = 4; |
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| 77 | break; |
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| 78 | case 3: |
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| 79 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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| 80 | ADMUX = 6; |
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| 81 | break; |
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| 82 | case 4: |
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| 83 | Aktuell_ay = acc_neutral.Y - ADC; |
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| 84 | AdWertAccRoll = Aktuell_ay; |
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| 85 | ADMUX = 7; |
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| 86 | break; |
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| 87 | case 5: |
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| 88 | Aktuell_ax = ADC - acc_neutral.X; |
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| 89 | AdWertAccNick = Aktuell_ax; |
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| 90 | ADMUX = 0; |
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| 91 | break; |
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| 92 | case 6: |
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| 93 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
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| 94 | else AdWertGier = ADC + gier1; |
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| 95 | ADMUX = 1; |
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| 96 | break; |
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| 97 | case 7: |
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| 98 | if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
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| 99 | else AdWertRoll = ADC + roll1; |
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| 100 | ADMUX = 2; |
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| 101 | break; |
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| 102 | case 8: |
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| 103 | if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
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| 902 | Nick666 | 104 | else AdWertNick = ADC + nick1; |
| 889 | Nick666 | 105 | ADMUX = 5; |
| 106 | break; |
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| 107 | case 9: |
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| 108 | AdWertAccHoch = (signed int) ADC - acc_neutral.Z; |
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| 109 | // AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
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| 110 | if(AdWertAccHoch > 1) |
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| 111 | { |
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| 112 | if(acc_neutral.Z < 750) |
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| 113 | { |
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| 114 | acc_neutral.Z += 0.02; |
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| 115 | if(modell_fliegt < 500) acc_neutral.Z += 0.1; |
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| 116 | } |
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| 117 | } |
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| 118 | else if(AdWertAccHoch < -1) |
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| 119 | { |
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| 120 | if(acc_neutral.Z > 550) |
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| 121 | { |
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| 122 | acc_neutral.Z-= 0.02; |
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| 123 | if(modell_fliegt < 500) acc_neutral.Z -= 0.1; |
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| 124 | } |
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| 125 | } |
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| 126 | messanzahl_AccHoch = 1; |
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| 127 | Aktuell_az = ADC; |
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| 128 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 902 | Nick666 | 129 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämpfen |
| 889 | Nick666 | 130 | ADMUX = 3; |
| 131 | break; |
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| 132 | case 10: |
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| 133 | tmpLuftdruck += ADC; |
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| 134 | if(++messanzahl_Druck >= 5) |
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| 135 | { |
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| 136 | MessLuftdruck = ADC; |
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| 137 | messanzahl_Druck = 0; |
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| 138 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(StartLuftdruck - tmpLuftdruck - HoehenWert))/8; // D-Anteil = neuerWert - AlterWert |
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| 139 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
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| 140 | HoehenWert = StartLuftdruck - Luftdruck; |
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| 141 | tmpLuftdruck = 0; |
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| 142 | } |
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| 143 | ADMUX = 0; |
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| 144 | state = 0; |
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| 145 | break; |
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| 146 | default: |
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| 147 | ADMUX = 0; |
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| 148 | state = 0; |
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| 149 | break; |
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| 150 | } |
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| 893 | Nick666 | 151 | |
| 152 | if(state != 0) ADC_START; |
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| 889 | Nick666 | 153 | } |