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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1388 | Arthur | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) Holger Buss, Ingo Busker |
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| 3 | // + only for non-profit use |
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| 4 | // + www.MikroKopter.com |
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| 5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
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| 6 | // + see the File "License.txt" for further Informations |
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| 7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 8 | |||
| 9 | #include "main.h" |
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| 10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
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| 11 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
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| 12 | volatile int HiResNick = 2500, HiResRoll = 2500; |
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| 13 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
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| 14 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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| 15 | volatile char messanzahl_AccHoch = 0; |
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| 16 | volatile long Luftdruck = 32000; |
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| 17 | volatile long SummenHoehe = 0; |
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| 18 | volatile int StartLuftdruck; |
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| 19 | volatile unsigned int MessLuftdruck = 1023; |
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| 20 | unsigned char DruckOffsetSetting; |
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| 21 | signed char ExpandBaro = 0; |
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| 22 | volatile int VarioMeter = 0; |
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| 23 | volatile unsigned int ZaehlMessungen = 0; |
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| 24 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
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| 25 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
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| 26 | volatile unsigned char AdReady = 1; |
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| 27 | //####################################################################################### |
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| 28 | // |
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| 29 | void ADC_Init(void) |
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| 30 | //####################################################################################### |
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| 31 | { |
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| 32 | ADMUX = 0;//Referenz ist extern |
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| 33 | ANALOG_ON; |
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| 34 | } |
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| 35 | |||
| 36 | #define DESIRED_H_ADC 800 |
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| 37 | |||
| 38 | void SucheLuftruckOffset(void) |
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| 39 | { |
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| 40 | unsigned int off; |
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| 41 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
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| 42 | if(off > 20) off -= 10; |
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| 43 | OCR0A = off; |
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| 44 | ExpandBaro = 0; |
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| 45 | Delay_ms_Mess(100); |
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| 46 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
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| 47 | for(; off < 250;off++) |
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| 48 | { |
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| 49 | OCR0A = off; |
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| 50 | Delay_ms_Mess(50); |
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| 51 | printf("."); |
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| 52 | if(MessLuftdruck < DESIRED_H_ADC) break; |
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| 53 | } |
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| 54 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
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| 55 | DruckOffsetSetting = off; |
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| 56 | Delay_ms_Mess(300); |
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| 57 | } |
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| 58 | |||
| 59 | void SucheGyroOffset(void) |
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| 60 | { |
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| 61 | unsigned char i, ready = 0; |
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| 62 | int timeout; |
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| 63 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
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| 64 | timeout = SetDelay(2000); |
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| 65 | for(i=140; i != 0; i--) |
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| 66 | { |
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| 67 | if(ready == 3 && i > 10) i = 9; |
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| 68 | ready = 0; |
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| 69 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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| 70 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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| 71 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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| 72 | twi_state = 8; |
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| 73 | i2c_start(); |
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| 74 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
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| 75 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
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| 76 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
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| 77 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
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| 78 | AdReady = 0; |
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| 79 | ANALOG_ON; |
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| 80 | while(!AdReady); |
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| 81 | if(i<10) Delay_ms_Mess(10); |
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| 82 | } |
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| 83 | Delay_ms_Mess(70); |
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| 84 | } |
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| 85 | |||
| 86 | /* |
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| 87 | 0 n |
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| 88 | 1 r |
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| 89 | 2 g |
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| 90 | 3 y |
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| 91 | 4 x |
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| 92 | 5 n |
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| 93 | 6 r |
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| 94 | 7 u |
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| 95 | 8 z |
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| 96 | 9 L |
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| 97 | 10 n |
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| 98 | 11 r |
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| 99 | 12 g |
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| 100 | 13 y |
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| 101 | 14 x |
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| 102 | 15 n |
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| 103 | 16 r |
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| 104 | 17 L |
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| 105 | */ |
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| 106 | |||
| 107 | //####################################################################################### |
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| 108 | // |
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| 109 | SIGNAL(SIG_ADC) |
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| 110 | //####################################################################################### |
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| 111 | { |
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| 112 | static unsigned char kanal=0,state = 0; |
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| 113 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
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| 114 | static signed int accy, accx; |
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| 115 | |||
| 116 | static long tmpLuftdruck = 0; |
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| 117 | static char messanzahl_Druck = 0; |
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| 118 | switch(state++) |
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| 119 | { |
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| 120 | case 0: |
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| 121 | nick1 = ADC; |
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| 122 | kanal = AD_ROLL; |
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| 123 | break; |
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| 124 | case 1: |
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| 125 | roll1 = ADC; |
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| 126 | kanal = AD_GIER; |
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| 127 | break; |
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| 128 | case 2: |
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| 129 | gier1 = ADC; |
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| 130 | kanal = AD_ACC_Y; |
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| 131 | break; |
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| 132 | case 3: |
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| 133 | Aktuell_ay = NeutralAccY - ADC; |
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| 134 | accy = Aktuell_ay; |
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| 135 | kanal = AD_ACC_X; |
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| 136 | break; |
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| 137 | case 4: |
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| 138 | Aktuell_ax = ADC - NeutralAccX; |
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| 139 | accx = Aktuell_ax; |
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| 140 | kanal = AD_NICK; |
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| 141 | break; |
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| 142 | case 5: |
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| 143 | nick1 += ADC; |
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| 144 | kanal = AD_ROLL; |
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| 145 | break; |
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| 146 | case 6: |
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| 147 | roll1 += ADC; |
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| 148 | kanal = AD_UBAT; |
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| 149 | break; |
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| 150 | case 7: |
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| 151 | UBat = (3 * UBat + ADC / 3) / 4; |
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| 152 | kanal = AD_ACC_Z; |
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| 153 | break; |
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| 154 | case 8: |
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| 155 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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| 156 | if(AdWertAccHoch > 1) |
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| 157 | { |
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| 158 | if(NeutralAccZ < 750) |
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| 159 | { |
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| 160 | NeutralAccZ += 0.02; |
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| 161 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 162 | } |
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| 163 | } |
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| 164 | else if(AdWertAccHoch < -1) |
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| 165 | { |
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| 166 | if(NeutralAccZ > 550) |
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| 167 | { |
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| 168 | NeutralAccZ-= 0.02; |
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| 169 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 170 | } |
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| 171 | } |
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| 172 | messanzahl_AccHoch = 1; |
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| 173 | Aktuell_az = ADC; |
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| 174 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 175 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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| 176 | kanal = AD_DRUCK; |
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| 177 | break; |
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| 178 | // "case 8:" fehlt hier absichtlich |
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| 179 | case 10: |
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| 180 | nick1 += ADC; |
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| 181 | kanal = AD_ROLL; |
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| 182 | break; |
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| 183 | case 11: |
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| 184 | roll1 += ADC; |
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| 185 | kanal = AD_GIER; |
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| 186 | break; |
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| 187 | case 12: |
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| 188 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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| 189 | else |
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| 190 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
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| 191 | else AdWertGier = (ADC + gier1); |
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| 192 | kanal = AD_ACC_Y; |
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| 193 | break; |
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| 194 | case 13: |
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| 195 | Aktuell_ay = NeutralAccY - ADC; |
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| 196 | AdWertAccRoll = (Aktuell_ay + accy); |
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| 197 | kanal = AD_ACC_X; |
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| 198 | break; |
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| 199 | case 14: |
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| 200 | Aktuell_ax = ADC - NeutralAccX; |
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| 201 | AdWertAccNick = (Aktuell_ax + accx); |
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| 202 | kanal = AD_NICK; |
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| 203 | break; |
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| 204 | case 15: |
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| 205 | nick1 += ADC; |
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| 206 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
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| 207 | AdWertNick = nick1 / 8; |
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| 208 | nick_filter = (nick_filter + nick1) / 2; |
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| 209 | HiResNick = nick_filter - AdNeutralNick; |
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| 210 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
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| 211 | kanal = AD_ROLL; |
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| 212 | break; |
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| 213 | case 16: |
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| 214 | roll1 += ADC; |
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| 215 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
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| 216 | AdWertRoll = roll1 / 8; |
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| 217 | roll_filter = (roll_filter + roll1) / 2; |
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| 218 | HiResRoll = roll_filter - AdNeutralRoll; |
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| 219 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
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| 220 | kanal = AD_DRUCK; |
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| 221 | break; |
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| 222 | case 17: |
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| 223 | state = 0; |
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| 224 | AdReady = 1; |
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| 225 | ZaehlMessungen++; |
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| 226 | // "break" fehlt hier absichtlich |
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| 227 | case 9: |
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| 228 | MessLuftdruck = ADC; |
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| 229 | tmpLuftdruck += MessLuftdruck; |
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| 230 | if(++messanzahl_Druck >= 18) |
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| 231 | { |
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| 232 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
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| 233 | HoehenWert = StartLuftdruck - Luftdruck; |
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| 234 | SummenHoehe -= SummenHoehe/SM_FILTER; |
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| 235 | SummenHoehe += HoehenWert; |
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| 236 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
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| 237 | tmpLuftdruck /= 2; |
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| 238 | messanzahl_Druck = 18/2; |
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| 239 | } |
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| 240 | kanal = AD_NICK; |
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| 241 | break; |
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| 242 | default: |
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| 243 | kanal = 0; state = 0; kanal = AD_NICK; |
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| 244 | break; |
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| 245 | } |
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| 246 | ADMUX = kanal; |
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| 247 | if(state != 0) ANALOG_ON; |
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| 248 | |||
| 249 | } |
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| 250 | |||
| 251 | |||
| 252 | |||
| 253 | /* |
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| 254 | //####################################################################################### |
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| 255 | // |
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| 256 | SIGNAL(SIG_ADC) |
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| 257 | //####################################################################################### |
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| 258 | { |
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| 259 | static unsigned char kanal=0,state = 0; |
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| 260 | static signed int gier1, roll1, nick1; |
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| 261 | static signed long nick_filter, roll_filter; |
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| 262 | static signed int accy, accx; |
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| 263 | switch(state++) |
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| 264 | { |
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| 265 | case 0: |
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| 266 | nick1 = ADC; |
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| 267 | kanal = AD_ROLL; |
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| 268 | break; |
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| 269 | case 1: |
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| 270 | roll1 = ADC; |
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| 271 | kanal = AD_GIER; |
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| 272 | break; |
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| 273 | case 2: |
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| 274 | gier1 = ADC; |
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| 275 | kanal = AD_ACC_Y; |
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| 276 | break; |
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| 277 | case 3: |
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| 278 | Aktuell_ay = NeutralAccY - ADC; |
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| 279 | accy = Aktuell_ay; |
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| 280 | kanal = AD_NICK; |
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| 281 | break; |
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| 282 | case 4: |
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| 283 | nick1 += ADC; |
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| 284 | kanal = AD_ROLL; |
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| 285 | break; |
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| 286 | case 5: |
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| 287 | roll1 += ADC; |
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| 288 | kanal = AD_ACC_Z; |
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| 289 | break; |
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| 290 | case 6: |
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| 291 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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| 292 | if(AdWertAccHoch > 1) |
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| 293 | { |
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| 294 | if(NeutralAccZ < 750) |
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| 295 | { |
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| 296 | NeutralAccZ += 0.02; |
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| 297 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 298 | } |
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| 299 | } |
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| 300 | else if(AdWertAccHoch < -1) |
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| 301 | { |
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| 302 | if(NeutralAccZ > 550) |
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| 303 | { |
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| 304 | NeutralAccZ-= 0.02; |
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| 305 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 306 | } |
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| 307 | } |
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| 308 | messanzahl_AccHoch = 1; |
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| 309 | Aktuell_az = ADC; |
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| 310 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 311 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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| 312 | kanal = AD_NICK; |
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| 313 | break; |
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| 314 | case 7: |
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| 315 | nick1 += ADC; |
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| 316 | kanal = AD_ROLL; |
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| 317 | break; |
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| 318 | case 8: |
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| 319 | roll1 += ADC; |
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| 320 | kanal = AD_ACC_X; |
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| 321 | break; |
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| 322 | case 9: |
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| 323 | Aktuell_ax = ADC - NeutralAccX; |
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| 324 | accx = Aktuell_ax; |
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| 325 | kanal = AD_GIER; |
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| 326 | break; |
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| 327 | case 10: |
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| 328 | gier1 += ADC; |
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| 329 | kanal = AD_NICK; |
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| 330 | break; |
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| 331 | case 11: |
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| 332 | nick1 += ADC; |
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| 333 | kanal = AD_ROLL; |
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| 334 | break; |
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| 335 | case 12: |
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| 336 | roll1 += ADC; |
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| 337 | kanal = AD_UBAT; |
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| 338 | break; |
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| 339 | case 13: |
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| 340 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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| 341 | kanal = AD_ACC_Y; |
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| 342 | break; |
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| 343 | case 14: |
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| 344 | Aktuell_ay = NeutralAccY - ADC; |
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| 345 | accy += Aktuell_ay; |
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| 346 | kanal = AD_NICK; |
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| 347 | break; |
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| 348 | case 15: |
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| 349 | nick1 += ADC; |
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| 350 | kanal = AD_ROLL; |
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| 351 | break; |
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| 352 | case 16: |
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| 353 | roll1 += ADC; |
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| 354 | kanal = AD_ACC_X; |
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| 355 | break; |
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| 356 | case 17: |
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| 357 | Aktuell_ax = ADC - NeutralAccX; |
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| 358 | accx += Aktuell_ax; |
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| 359 | kanal = AD_NICK; |
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| 360 | break; |
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| 361 | case 18: |
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| 362 | nick1 += ADC; |
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| 363 | kanal = AD_ROLL; |
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| 364 | break; |
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| 365 | case 19: |
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| 366 | roll1 += ADC; |
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| 367 | kanal = AD_GIER; |
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| 368 | break; |
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| 369 | case 20: |
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| 370 | gier1 += ADC; |
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| 371 | kanal = AD_ACC_Y; |
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| 372 | break; |
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| 373 | case 21: |
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| 374 | Aktuell_ay = NeutralAccY - ADC; |
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| 375 | accy += Aktuell_ay; |
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| 376 | kanal = AD_NICK; |
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| 377 | break; |
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| 378 | case 22: |
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| 379 | nick1 += ADC; |
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| 380 | kanal = AD_ROLL; |
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| 381 | break; |
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| 382 | case 23: |
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| 383 | roll1 += ADC; |
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| 384 | kanal = AD_DRUCK; |
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| 385 | break; |
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| 386 | case 24: |
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| 387 | tmpLuftdruck += ADC; |
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| 388 | if(++messanzahl_Druck >= 5) |
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| 389 | { |
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| 390 | MessLuftdruck = ADC; |
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| 391 | messanzahl_Druck = 0; |
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| 392 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
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| 393 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
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| 394 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
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| 395 | tmpLuftdruck = 0; |
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| 396 | } |
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| 397 | kanal = AD_NICK; |
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| 398 | break; |
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| 399 | case 25: |
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| 400 | nick1 += ADC; |
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| 401 | kanal = AD_ROLL; |
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| 402 | break; |
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| 403 | case 26: |
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| 404 | roll1 += ADC; |
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| 405 | kanal = AD_ACC_X; |
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| 406 | break; |
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| 407 | case 27: |
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| 408 | Aktuell_ax = ADC - NeutralAccX; |
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| 409 | accx += Aktuell_ax; |
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| 410 | kanal = AD_GIER; |
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| 411 | break; |
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| 412 | case 28: |
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| 413 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
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| 414 | else |
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| 415 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
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| 416 | else AdWertGier = (ADC + gier1 + 1) / 2; |
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| 417 | kanal = AD_NICK; |
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| 418 | break; |
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| 419 | case 29: |
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| 420 | nick1 += ADC; |
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| 421 | kanal = AD_ROLL; |
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| 422 | break; |
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| 423 | case 30: |
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| 424 | roll1 += ADC; |
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| 425 | kanal = AD_ACC_Y; |
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| 426 | break; |
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| 427 | case 31: |
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| 428 | Aktuell_ay = NeutralAccY - ADC; |
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| 429 | AdWertAccRoll = (Aktuell_ay + accy); |
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| 430 | kanal = AD_NICK; |
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| 431 | break; |
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| 432 | case 32: |
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| 433 | AdWertNick = (ADC + nick1 + 3) / 5; |
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| 434 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
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| 435 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
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| 436 | HiResNick = nick_filter - 20 * AdNeutralNick; |
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| 437 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
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| 438 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
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| 439 | kanal = AD_ROLL; |
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| 440 | break; |
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| 441 | case 33: |
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| 442 | AdWertRoll = (ADC + roll1 + 3) / 5; |
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| 443 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
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| 444 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
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| 445 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
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| 446 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
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| 447 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
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| 448 | kanal = AD_ACC_X; |
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| 449 | break; |
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| 450 | case 34: |
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| 451 | Aktuell_ax = ADC - NeutralAccX; |
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| 452 | AdWertAccNick = (Aktuell_ax + accx); |
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| 453 | kanal = AD_NICK; |
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| 454 | state = 0; |
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| 455 | AdReady = 1; |
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| 456 | ZaehlMessungen++; |
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| 457 | break; |
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| 458 | default: |
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| 459 | kanal = 0; |
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| 460 | state = 0; |
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| 461 | break; |
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| 462 | } |
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| 463 | ADMUX = kanal; |
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| 464 | if(state != 0) ANALOG_ON; |
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| 465 | } |
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| 466 | */ |