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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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| 11 | volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
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| 12 | volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 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 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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| 40 | Delay_ms(100); |
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| 41 | if(MessLuftdruck < 850) off = 0; |
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| 42 | for(; off < 250;off++) |
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| 1 | ingob | 43 | { |
| 44 | OCR0A = off; |
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| 45 | Delay_ms(50); |
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| 46 | printf("."); |
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| 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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| 51 | Delay_ms(300); |
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| 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 | signed int wert; |
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| 62 | ANALOG_OFF; |
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| 63 | switch(state++) |
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| 64 | { |
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| 65 | case 0: |
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| 66 | wert = (signed int) AdNeutralGier - ADC; |
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| 173 | holgerb | 67 | if(PlatinenVersion != 10) wert *= 2; |
| 1 | ingob | 68 | AccumulateGier += wert; // |
| 69 | MessanzahlGier++; |
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| 70 | Mess_Integral_Gier += wert;// / 16; |
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| 71 | Mess_Integral_Gier2 += wert; |
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| 72 | kanal = 1; |
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| 73 | ZaehlMessungen++; |
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| 74 | break; |
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| 75 | case 1: |
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| 76 | wert = (signed int) ADC - AdNeutralRoll; |
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| 173 | holgerb | 77 | if(PlatinenVersion != 10) wert *= 2; |
| 1 | ingob | 78 | Mess_IntegralRoll += wert; |
| 79 | Mess_IntegralRoll2 += wert; |
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| 173 | holgerb | 80 | if(Mess_IntegralRoll > 310000L) Mess_IntegralRoll = -290000L; |
| 81 | if(Mess_IntegralRoll <-310000L) Mess_IntegralRoll = 290000L; |
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| 82 | if(ADC < 15) wert = -1000; |
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| 83 | if(ADC < 7) wert = -2000; |
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| 84 | if(ADC > 1010) wert = +1000; |
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| 85 | if(ADC > 1017) wert = +2000; |
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| 1 | ingob | 86 | AccumulateRoll += wert; |
| 87 | MessanzahlRoll++; |
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| 88 | kanal = 2; |
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| 89 | break; |
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| 90 | case 2: |
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| 91 | wert = (signed int) ADC - AdNeutralNick; |
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| 173 | holgerb | 92 | if(PlatinenVersion != 10) wert *= 2; |
| 1 | ingob | 93 | Mess_IntegralNick += wert; |
| 94 | Mess_IntegralNick2 += wert; |
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| 173 | holgerb | 95 | if(Mess_IntegralNick > 310000L) Mess_IntegralNick = -290000L; |
| 96 | if(Mess_IntegralNick <-310000L) Mess_IntegralNick = 290000L; |
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| 97 | if(ADC < 15) wert = -1000; |
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| 98 | if(ADC < 7) wert = -2000; |
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| 99 | if(ADC > 1010) wert = +1000; |
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| 100 | if(ADC > 1017) wert = +2000; |
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| 1 | ingob | 101 | AccumulateNick += wert; |
| 102 | MessanzahlNick++; |
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| 103 | kanal = 4; |
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| 104 | break; |
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| 105 | case 3: |
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| 106 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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| 107 | kanal = 6; |
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| 108 | break; |
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| 109 | case 4: |
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| 110 | Aktuell_ay = NeutralAccY - ADC; |
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| 111 | accumulate_AccRoll += Aktuell_ay; |
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| 112 | messanzahl_AccRoll++; |
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| 113 | kanal = 7; |
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| 114 | break; |
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| 115 | case 5: |
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| 128 | ingob | 116 | Aktuell_ax = ADC - NeutralAccX; |
| 117 | accumulate_AccNick += Aktuell_ax; |
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| 1 | ingob | 118 | messanzahl_AccNick++; |
| 119 | kanal = 5; |
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| 120 | state = 6; |
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| 121 | break; |
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| 122 | case 6: |
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| 123 | accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
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| 124 | accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
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| 125 | if(accumulate_AccHoch > 1) |
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| 126 | { |
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| 127 | if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
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| 128 | } |
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| 129 | else if(accumulate_AccHoch < -1) |
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| 130 | { |
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| 131 | if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
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| 132 | } |
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| 133 | messanzahl_AccHoch = 1; |
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| 134 | Aktuell_az = ADC; |
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| 135 | Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
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| 136 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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| 137 | // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
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| 138 | /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
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| 139 | { |
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| 140 | kanal = 3; |
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| 141 | state = 7; |
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| 142 | } |
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| 143 | else |
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| 144 | { |
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| 145 | kanal = 0; |
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| 146 | state = 0; |
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| 147 | }*/ |
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| 148 | kanal = 3; |
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| 149 | state = 7; |
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| 150 | break; |
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| 151 | case 7: |
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| 152 | tmpLuftdruck += ADC; |
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| 153 | if(++messanzahl_Druck >= 5) |
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| 154 | { |
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| 155 | MessLuftdruck = ADC; |
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| 156 | messanzahl_Druck = 0; |
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| 157 | HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
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| 158 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
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| 159 | HoehenWert = StartLuftdruck - Luftdruck; |
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| 160 | tmpLuftdruck = 0; |
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| 161 | } |
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| 162 | kanal = 0; |
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| 163 | state = 0; |
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| 164 | break; |
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| 165 | default: |
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| 166 | kanal = 0; |
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| 167 | state = 0; |
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| 168 | break; |
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| 169 | } |
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| 170 | ADMUX = kanal; |
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| 171 | ANALOG_ON; |
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| 172 | } |