Subversion Repositories FlightCtrl

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

// + Copyright (c) Holger Buss, Ingo Busker

// + only for non-profit use

// + www.MikroKopter.com

// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed

// + see the File "License.txt" for further Informations

// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++

#include "main.h"

#include "eeprom.h"

volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;

volatile int  AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;

volatile int  HiResNick = 2500, HiResRoll = 2500;

volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;

volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;

volatile char messanzahl_AccHoch = 0;

volatile long Luftdruck = 32000;

volatile long SummenHoehe = 0;

volatile int  StartLuftdruck;

volatile unsigned int  MessLuftdruck = 1023;

unsigned char DruckOffsetSetting;

signed char ExpandBaro = 0;

volatile int VarioMeter = 0;

volatile unsigned int ZaehlMessungen = 0;

unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;

volatile unsigned char AdReady = 1;

float NeutralAccZ_float;

//#######################################################################################

//

void ADC_Init(void)

//#######################################################################################

{

    ADMUX = 0;//Referenz ist extern

    ANALOG_ON;

}

#define DESIRED_H_ADC 800

void SucheLuftruckOffset(void)

{

 unsigned int off;

 ExpandBaro = 0;

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

 {

  unsigned char off2;

  OCR0A = 150;

  off2 = GetParamByte(PID_PRESSURE_OFFSET);

  if(off2 < 230) off2 += 10;

  OCR0B = off2;

  Delay_ms_Mess(100);

  if(MessLuftdruck > DESIRED_H_ADC) off2 = 240;

  for(; off2 >= 5; off2 -= 5)

   {

   OCR0B = off2;

   Delay_ms_Mess(50);

   printf("*");

   if(MessLuftdruck > DESIRED_H_ADC) break;

   }

   SetParamByte(PID_PRESSURE_OFFSET, off2);

  if(off2 >= 15) off = 140; else off = 0;

  for(; off < 250;off++)

   {

   OCR0A = off;

   Delay_ms_Mess(50);

   printf(".");

   if(MessLuftdruck < DESIRED_H_ADC) break;

   }

   DruckOffsetSetting = off;

 }

#else

  off = GetParamByte(PID_PRESSURE_OFFSET);

  if(off > 20) off -= 10;

  OCR0A = off;

  Delay_ms_Mess(100);

  if(MessLuftdruck < DESIRED_H_ADC) off = 0;

  for(; off < 250;off++)

   {

   OCR0A = off;

   Delay_ms_Mess(50);

   printf(".");

   if(MessLuftdruck < DESIRED_H_ADC) break;

   }

   DruckOffsetSetting = off;

   SetParamByte(PID_PRESSURE_OFFSET, off);

#endif

 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE;

 OCR0A = off;

 Delay_ms_Mess(300);

}

void SucheGyroOffset(void)

{

 unsigned char i, ready = 0;

 int timeout;

 timeout = SetDelay(2000);

 for(i=140; i != 0; i--)

  {

   if(ready == 3 && i > 10) i = 9;

   ready = 0;

   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;

   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;

   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;

   I2C_Start(TWI_STATE_GYRO_OFFSET_TX);

   if(AnalogOffsetNick < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;};

   if(AnalogOffsetRoll < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;};

   if(AnalogOffsetGier < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW;  AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW;  AnalogOffsetGier = 245;};

   while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}

   AdReady = 0;

   ANALOG_ON;

   while(!AdReady);

   if(i<10) Delay_ms_Mess(10);

  }

   Delay_ms_Mess(70);

}

/*

1  r

2     g

3     y

4     x

5  n

6  r

7     u

8     z

9     L

10 n

11 r

12    g

13    y

14    x

15 n

16 r

17    L

*/

//#######################################################################################

//

ISR(ADC_vect)

//#######################################################################################

{

    static unsigned char kanal=0,state = 0;

        static signed char subcount = 0;

    static signed int gier1, roll1, nick1, nick_filter, roll_filter;

        static signed int accy, accx;

        static long tmpLuftdruck = 0;

        static char messanzahl_Druck = 0;

    switch(state++)

        {

        case 0:

            nick1 = ADC;

            kanal = AD_ROLL;

            break;

        case 1:

            roll1 = ADC;

                    kanal = AD_GIER;

            break;

        case 2:

            gier1 = ADC;

            kanal = AD_ACC_Y;

            break;

        case 3:

            Aktuell_ay = NeutralAccY - ADC;

            accy = Aktuell_ay;

                    kanal = AD_ACC_X;

            break;

        case 4:

            Aktuell_ax = ADC - NeutralAccX;

            accx =  Aktuell_ax;

            kanal = AD_NICK;

            break;

        case 5:

            nick1 += ADC;

            kanal = AD_ROLL;

            break;

        case 6:

            roll1 += ADC;

            kanal = AD_UBAT;

            break;

        case 7:

#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))

            if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference

                        else  

#endif

                        UBat = (3 * UBat + ADC / 3) / 4;

                    kanal = AD_ACC_Z;

            break;

       case 8:

            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;

            if(AdWertAccHoch > 1)

             {

              if(NeutralAccZ < 750)

               {

                subcount += 5;

                if(modell_fliegt < 500) subcount += 10;

               }

              if(subcount > 100) { NeutralAccZ++; subcount -= 100;}

             }

             else if(AdWertAccHoch < -1)

             {

              if(NeutralAccZ > 550)

                {

                 subcount -= 5;

                 if(modell_fliegt < 500) subcount -= 10;

                 if(subcount < -100) { NeutralAccZ--; subcount += 100;}

                }

             }

            messanzahl_AccHoch = 1;

            Aktuell_az = ADC;

            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren

            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen

                kanal = AD_DRUCK;

            break;

   // "case 9:" fehlt hier absichtlich

        case 10:

            nick1 += ADC;

            kanal = AD_ROLL;

            break;

        case 11:

            roll1 += ADC;

                    kanal = AD_GIER;

            break;

        case 12:

            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 1) / 2;

            else

            if(PlatinenVersion >= 20)  AdWertGier = 2047 - (ADC + gier1);

                        else                                       AdWertGier = (ADC + gier1);

            kanal = AD_ACC_Y;

            break;

        case 13:

            Aktuell_ay = NeutralAccY - ADC;

            AdWertAccRoll = (Aktuell_ay + accy);

            kanal = AD_ACC_X;

            break;

        case 14:

            Aktuell_ax = ADC - NeutralAccX;

            AdWertAccNick =  (Aktuell_ax + accx);

            kanal = AD_NICK;

            break;

        case 15:

            nick1 += ADC;

            if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4;

            AdWertNick = nick1 / 8;

            nick_filter = (nick_filter + nick1) / 2;

            HiResNick = nick_filter - AdNeutralNick;

            AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;

            kanal = AD_ROLL;

            break;

        case 16:

            roll1 += ADC;

            if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4;

            AdWertRoll = roll1 / 8;

            roll_filter = (roll_filter + roll1) / 2;

            HiResRoll = roll_filter - AdNeutralRoll;

            AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;

                kanal = AD_DRUCK;

            break;

        case 17:

            state = 0;

                        AdReady = 1;

            ZaehlMessungen++;

            // "break" fehlt hier absichtlich

        case 9:

                MessLuftdruck = ADC;

            tmpLuftdruck += MessLuftdruck;

            if(++messanzahl_Druck >= 18)

            {

                                Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8;  // -523.19 counts per 10 counts offset step

                                HoehenWert = StartLuftdruck - Luftdruck;

                                SummenHoehe -= SummenHoehe/SM_FILTER;

                                SummenHoehe += HoehenWert;

                                VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;

                tmpLuftdruck /= 2;

                messanzahl_Druck = 18/2;

            }

            kanal = AD_NICK;

            break;

        default:

            kanal = 0; state = 0; kanal = AD_NICK;

            break;

        }

    ADMUX = kanal;

    if(state != 0) ANALOG_ON;

}