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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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| 380 | hbuss | 11 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| 12 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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| 1 | ingob | 13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
| 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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| 1036 | hbuss | 19 | signed char ExpandBaro = 0; |
| 1 | ingob | 20 | volatile int HoeheD = 0; |
| 21 | volatile char messanzahl_Druck; |
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| 22 | volatile int tmpLuftdruck; |
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| 23 | volatile unsigned int ZaehlMessungen = 0; |
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| 918 | hbuss | 24 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
| 25 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
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| 1 | ingob | 26 | //####################################################################################### |
| 27 | // |
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| 28 | void ADC_Init(void) |
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| 29 | //####################################################################################### |
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| 30 | { |
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| 31 | ADMUX = 0;//Referenz ist extern |
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| 32 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
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| 33 | //Free Running Mode, Division Factor 128, Interrupt on |
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| 34 | } |
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| 35 | |||
| 36 | void SucheLuftruckOffset(void) |
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| 37 | { |
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| 38 | unsigned int off; |
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| 173 | holgerb | 39 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| 40 | if(off > 20) off -= 10; |
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| 41 | OCR0A = off; |
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| 1036 | hbuss | 42 | ExpandBaro = 0; |
| 380 | hbuss | 43 | Delay_ms_Mess(100); |
| 173 | holgerb | 44 | if(MessLuftdruck < 850) off = 0; |
| 45 | for(; off < 250;off++) |
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| 1 | ingob | 46 | { |
| 47 | OCR0A = off; |
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| 380 | hbuss | 48 | Delay_ms_Mess(50); |
| 1 | ingob | 49 | printf("."); |
| 1036 | hbuss | 50 | if(MessLuftdruck < 850) break; |
| 1 | ingob | 51 | } |
| 173 | holgerb | 52 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| 53 | DruckOffsetSetting = off; |
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| 380 | hbuss | 54 | Delay_ms_Mess(300); |
| 1 | ingob | 55 | } |
| 56 | |||
| 918 | hbuss | 57 | void SucheGyroOffset(void) |
| 58 | { |
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| 59 | unsigned char i, ready = 0; |
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| 60 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
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| 61 | for(i=140; i != 0; i--) |
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| 62 | { |
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| 921 | hbuss | 63 | if(ready == 3 && i > 10) i = 9; |
| 918 | hbuss | 64 | ready = 0; |
| 65 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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| 66 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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| 67 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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| 68 | twi_state = 8; |
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| 69 | i2c_start(); |
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| 70 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
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| 71 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
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| 72 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
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| 73 | while(twi_state); |
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| 74 | messanzahl_Druck = 0; |
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| 75 | ANALOG_ON; |
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| 76 | while(messanzahl_Druck == 0); |
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| 77 | if(i<10) Delay_ms_Mess(10); |
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| 78 | } |
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| 921 | hbuss | 79 | Delay_ms_Mess(70); |
| 918 | hbuss | 80 | } |
| 1 | ingob | 81 | |
| 918 | hbuss | 82 | |
| 1 | ingob | 83 | //####################################################################################### |
| 84 | // |
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| 85 | SIGNAL(SIG_ADC) |
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| 86 | //####################################################################################### |
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| 87 | { |
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| 88 | static unsigned char kanal=0,state = 0; |
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| 401 | hbuss | 89 | static unsigned int gier1, roll1, nick1; |
| 1 | ingob | 90 | ANALOG_OFF; |
| 91 | switch(state++) |
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| 92 | { |
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| 93 | case 0: |
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| 401 | hbuss | 94 | gier1 = ADC; |
| 1 | ingob | 95 | kanal = 1; |
| 96 | ZaehlMessungen++; |
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| 97 | break; |
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| 98 | case 1: |
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| 401 | hbuss | 99 | roll1 = ADC; |
| 1 | ingob | 100 | kanal = 2; |
| 101 | break; |
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| 102 | case 2: |
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| 401 | hbuss | 103 | nick1 = ADC; |
| 1 | ingob | 104 | kanal = 4; |
| 105 | break; |
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| 106 | case 3: |
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| 107 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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| 108 | kanal = 6; |
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| 109 | break; |
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| 110 | case 4: |
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| 111 | Aktuell_ay = NeutralAccY - ADC; |
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| 380 | hbuss | 112 | AdWertAccRoll = Aktuell_ay; |
| 1 | ingob | 113 | kanal = 7; |
| 114 | break; |
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| 115 | case 5: |
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| 128 | ingob | 116 | Aktuell_ax = ADC - NeutralAccX; |
| 380 | hbuss | 117 | AdWertAccNick = Aktuell_ax; |
| 401 | hbuss | 118 | kanal = 0; |
| 1 | ingob | 119 | break; |
| 120 | case 6: |
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| 401 | hbuss | 121 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
| 1021 | hbuss | 122 | else |
| 1111 | hbuss | 123 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
| 401 | hbuss | 124 | else AdWertGier = ADC + gier1; |
| 125 | kanal = 1; |
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| 126 | break; |
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| 127 | case 7: |
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| 128 | if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
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| 129 | else AdWertRoll = ADC + roll1; |
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| 130 | kanal = 2; |
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| 131 | break; |
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| 132 | case 8: |
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| 133 | if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
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| 134 | else AdWertNick = ADC + nick1; |
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| 492 | hbuss | 135 | //AdWertNick = 0; |
| 136 | //AdWertNick += Poti2; |
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| 401 | hbuss | 137 | kanal = 5; |
| 138 | break; |
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| 139 | case 9: |
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| 380 | hbuss | 140 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
| 871 | hbuss | 141 | // AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
| 380 | hbuss | 142 | if(AdWertAccHoch > 1) |
| 1 | ingob | 143 | { |
| 871 | hbuss | 144 | if(NeutralAccZ < 750) |
| 145 | { |
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| 146 | NeutralAccZ += 0.02; |
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| 147 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 148 | } |
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| 1 | ingob | 149 | } |
| 380 | hbuss | 150 | else if(AdWertAccHoch < -1) |
| 1 | ingob | 151 | { |
| 871 | hbuss | 152 | if(NeutralAccZ > 550) |
| 153 | { |
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| 154 | NeutralAccZ-= 0.02; |
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| 155 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 156 | } |
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| 1 | ingob | 157 | } |
| 158 | messanzahl_AccHoch = 1; |
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| 159 | Aktuell_az = ADC; |
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| 380 | hbuss | 160 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
| 1 | ingob | 161 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| 380 | hbuss | 162 | kanal = 3; |
| 1 | ingob | 163 | break; |
| 401 | hbuss | 164 | case 10: |
| 1 | ingob | 165 | tmpLuftdruck += ADC; |
| 166 | if(++messanzahl_Druck >= 5) |
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| 167 | { |
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| 168 | MessLuftdruck = ADC; |
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| 169 | messanzahl_Druck = 0; |
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| 1036 | hbuss | 170 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/8; // D-Anteil = neuerWert - AlterWert |
| 1 | ingob | 171 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| 1036 | hbuss | 172 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
| 1 | ingob | 173 | tmpLuftdruck = 0; |
| 174 | } |
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| 175 | kanal = 0; |
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| 176 | state = 0; |
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| 177 | break; |
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| 178 | default: |
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| 179 | kanal = 0; |
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| 180 | state = 0; |
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| 181 | break; |
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| 182 | } |
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| 183 | ADMUX = kanal; |
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| 380 | hbuss | 184 | if(state != 0) ANALOG_ON; |
| 1 | ingob | 185 | } |