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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1754 | - | 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 | #include "eeprom.h" |
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| 11 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
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| 12 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
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| 13 | volatile int HiResNick = 2500, HiResRoll = 2500; |
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| 14 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
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| 15 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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| 16 | volatile char messanzahl_AccHoch = 0; |
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| 17 | volatile long Luftdruck = 32000; |
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| 18 | volatile long SummenHoehe = 0; |
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| 19 | volatile int StartLuftdruck; |
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| 20 | volatile unsigned int MessLuftdruck = 1023; |
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| 21 | unsigned char DruckOffsetSetting; |
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| 22 | signed char ExpandBaro = 0; |
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| 23 | volatile int VarioMeter = 0; |
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| 24 | volatile unsigned int ZaehlMessungen = 0; |
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| 25 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
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| 26 | volatile unsigned char AdReady = 1; |
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| 27 | float NeutralAccZ_float; |
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| 28 | //####################################################################################### |
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| 29 | // |
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| 30 | void ADC_Init(void) |
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| 31 | //####################################################################################### |
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| 32 | { |
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| 33 | ADMUX = 0;//Referenz ist extern |
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| 34 | ANALOG_ON; |
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| 35 | } |
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| 36 | |||
| 37 | #define DESIRED_H_ADC 800 |
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| 38 | |||
| 39 | void SucheLuftruckOffset(void) |
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| 40 | { |
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| 41 | unsigned int off; |
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| 42 | off = GetParamByte(PID_PRESSURE_OFFSET); |
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| 43 | if(off > 20) off -= 10; |
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| 44 | OCR0A = off; |
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| 45 | ExpandBaro = 0; |
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| 46 | Delay_ms_Mess(100); |
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| 47 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
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| 48 | for(; off < 250;off++) |
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| 49 | { |
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| 50 | OCR0A = off; |
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| 51 | Delay_ms_Mess(50); |
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| 52 | printf("."); |
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| 53 | if(MessLuftdruck < DESIRED_H_ADC) break; |
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| 54 | } |
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| 55 | SetParamByte(PID_PRESSURE_OFFSET, off); |
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| 56 | DruckOffsetSetting = off; |
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| 57 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= DEFEKT_PRESSURE; |
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| 58 | OCR0A = off; |
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| 59 | Delay_ms_Mess(300); |
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| 60 | } |
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| 61 | |||
| 62 | void SucheGyroOffset(void) |
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| 63 | { |
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| 64 | unsigned char i, ready = 0; |
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| 65 | int timeout; |
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| 66 | timeout = SetDelay(2000); |
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| 67 | for(i=140; i != 0; i--) |
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| 68 | { |
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| 69 | if(ready == 3 && i > 10) i = 9; |
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| 70 | ready = 0; |
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| 71 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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| 72 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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| 73 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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| 74 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
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| 75 | if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 245;}; |
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| 76 | if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;}; |
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| 77 | if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 245;}; |
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| 78 | 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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| 79 | AdReady = 0; |
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| 80 | ANALOG_ON; |
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| 81 | while(!AdReady); |
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| 82 | if(i<10) Delay_ms_Mess(10); |
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| 83 | } |
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| 84 | Delay_ms_Mess(70); |
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| 85 | } |
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| 86 | |||
| 87 | /* |
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| 88 | |||
| 89 | 1 r |
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| 90 | 2 g |
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| 91 | 3 y |
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| 92 | 4 x |
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| 93 | 5 n |
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| 94 | 6 r |
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| 95 | 7 u |
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| 96 | 8 z |
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| 97 | 9 L |
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| 98 | 10 n |
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| 99 | 11 r |
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| 100 | 12 g |
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| 101 | 13 y |
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| 102 | 14 x |
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| 103 | 15 n |
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| 104 | 16 r |
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| 105 | 17 L |
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| 106 | */ |
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| 107 | |||
| 108 | //####################################################################################### |
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| 109 | // |
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| 110 | ISR(ADC_vect) |
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| 111 | //####################################################################################### |
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| 112 | { |
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| 113 | static unsigned char kanal=0,state = 0; |
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| 114 | static signed char subcount = 0; |
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| 115 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
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| 116 | static signed int accy, accx; |
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| 117 | static long tmpLuftdruck = 0; |
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| 118 | static char messanzahl_Druck = 0; |
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| 119 | switch(state++) |
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| 120 | { |
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| 121 | case 0: |
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| 122 | nick1 = ADC; |
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| 123 | kanal = AD_ROLL; |
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| 124 | break; |
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| 125 | case 1: |
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| 126 | roll1 = ADC; |
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| 127 | kanal = AD_GIER; |
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| 128 | break; |
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| 129 | case 2: |
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| 130 | gier1 = ADC; |
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| 131 | kanal = AD_ACC_Y; |
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| 132 | break; |
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| 133 | case 3: |
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| 134 | Aktuell_ay = NeutralAccY - ADC; |
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| 135 | accy = Aktuell_ay; |
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| 136 | kanal = AD_ACC_X; |
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| 137 | break; |
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| 138 | case 4: |
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| 139 | Aktuell_ax = ADC - NeutralAccX; |
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| 140 | accx = Aktuell_ax; |
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| 141 | kanal = AD_NICK; |
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| 142 | break; |
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| 143 | case 5: |
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| 144 | nick1 += ADC; |
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| 145 | kanal = AD_ROLL; |
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| 146 | break; |
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| 147 | case 6: |
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| 148 | roll1 += ADC; |
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| 149 | kanal = AD_UBAT; |
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| 150 | break; |
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| 151 | case 7: |
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| 152 | UBat = (3 * UBat + ADC / 3) / 4; |
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| 153 | kanal = AD_ACC_Z; |
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| 154 | break; |
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| 155 | case 8: |
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| 156 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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| 157 | if(AdWertAccHoch > 1) |
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| 158 | { |
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| 159 | if(NeutralAccZ < 750) |
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| 160 | { |
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| 161 | subcount += 5; |
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| 162 | if(modell_fliegt < 500) subcount += 10; |
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| 163 | } |
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| 164 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
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| 165 | } |
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| 166 | else if(AdWertAccHoch < -1) |
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| 167 | { |
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| 168 | if(NeutralAccZ > 550) |
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| 169 | { |
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| 170 | subcount -= 5; |
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| 171 | if(modell_fliegt < 500) subcount -= 10; |
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| 172 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
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| 173 | } |
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| 174 | } |
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| 175 | messanzahl_AccHoch = 1; |
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| 176 | Aktuell_az = ADC; |
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| 177 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 178 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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| 179 | kanal = AD_DRUCK; |
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| 180 | break; |
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| 181 | // "case 9:" fehlt hier absichtlich |
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| 182 | case 10: |
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| 183 | nick1 += ADC; |
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| 184 | kanal = AD_ROLL; |
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| 185 | break; |
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| 186 | case 11: |
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| 187 | roll1 += ADC; |
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| 188 | kanal = AD_GIER; |
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| 189 | break; |
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| 190 | case 12: |
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| 191 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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| 192 | else |
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| 193 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
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| 194 | else AdWertGier = (ADC + gier1); |
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| 195 | kanal = AD_ACC_Y; |
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| 196 | break; |
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| 197 | case 13: |
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| 198 | Aktuell_ay = NeutralAccY - ADC; |
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| 199 | AdWertAccRoll = (Aktuell_ay + accy); |
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| 200 | kanal = AD_ACC_X; |
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| 201 | break; |
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| 202 | case 14: |
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| 203 | Aktuell_ax = ADC - NeutralAccX; |
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| 204 | AdWertAccNick = (Aktuell_ax + accx); |
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| 205 | kanal = AD_NICK; |
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| 206 | break; |
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| 207 | case 15: |
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| 208 | nick1 += ADC; |
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| 209 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
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| 210 | AdWertNick = nick1 / 8; |
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| 211 | nick_filter = (nick_filter + nick1) / 2; |
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| 212 | HiResNick = nick_filter - AdNeutralNick; |
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| 213 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
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| 214 | kanal = AD_ROLL; |
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| 215 | break; |
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| 216 | case 16: |
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| 217 | roll1 += ADC; |
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| 218 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
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| 219 | AdWertRoll = roll1 / 8; |
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| 220 | roll_filter = (roll_filter + roll1) / 2; |
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| 221 | HiResRoll = roll_filter - AdNeutralRoll; |
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| 222 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
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| 223 | kanal = AD_DRUCK; |
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| 224 | break; |
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| 225 | case 17: |
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| 226 | state = 0; |
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| 227 | AdReady = 1; |
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| 228 | ZaehlMessungen++; |
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| 229 | // "break" fehlt hier absichtlich |
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| 230 | case 9: |
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| 231 | MessLuftdruck = ADC; |
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| 232 | tmpLuftdruck += MessLuftdruck; |
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| 233 | if(++messanzahl_Druck >= 18) |
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| 234 | { |
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| 235 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
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| 236 | HoehenWert = StartLuftdruck - Luftdruck; |
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| 237 | SummenHoehe -= SummenHoehe/SM_FILTER; |
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| 238 | SummenHoehe += HoehenWert; |
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| 239 | VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
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| 240 | tmpLuftdruck /= 2; |
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| 241 | messanzahl_Druck = 18/2; |
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| 242 | } |
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| 243 | kanal = AD_NICK; |
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| 244 | break; |
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| 245 | default: |
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| 246 | kanal = 0; state = 0; kanal = AD_NICK; |
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| 247 | break; |
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| 248 | } |
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| 249 | ADMUX = kanal; |
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| 250 | if(state != 0) ANALOG_ON; |
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| 251 | } |
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| 252 |