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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2003 | - | 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 | ExpandBaro = 0; |
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| 43 | |||
| 44 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 45 | { |
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| 46 | unsigned char off2; |
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| 47 | OCR0A = 150; |
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| 48 | off2 = GetParamByte(PID_PRESSURE_OFFSET); |
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| 49 | if(off2 < 230) off2 += 10; |
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| 50 | OCR0B = off2; |
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| 51 | Delay_ms_Mess(100); |
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| 52 | if(MessLuftdruck > DESIRED_H_ADC) off2 = 240; |
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| 53 | for(; off2 >= 5; off2 -= 5) |
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| 54 | { |
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| 55 | OCR0B = off2; |
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| 56 | Delay_ms_Mess(50); |
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| 57 | printf("*"); |
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| 58 | if(MessLuftdruck > DESIRED_H_ADC) break; |
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| 59 | } |
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| 60 | SetParamByte(PID_PRESSURE_OFFSET, off2); |
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| 61 | if(off2 >= 15) off = 140; else off = 0; |
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| 62 | for(; off < 250;off++) |
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| 63 | { |
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| 64 | OCR0A = off; |
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| 65 | Delay_ms_Mess(50); |
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| 66 | printf("."); |
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| 67 | if(MessLuftdruck < DESIRED_H_ADC) break; |
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| 68 | } |
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| 69 | DruckOffsetSetting = off; |
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| 70 | } |
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| 71 | #else |
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| 72 | off = GetParamByte(PID_PRESSURE_OFFSET); |
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| 73 | if(off > 20) off -= 10; |
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| 74 | OCR0A = off; |
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| 75 | Delay_ms_Mess(100); |
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| 76 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
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| 77 | for(; off < 250;off++) |
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| 78 | { |
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| 79 | OCR0A = off; |
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| 80 | Delay_ms_Mess(50); |
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| 81 | printf("."); |
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| 82 | if(MessLuftdruck < DESIRED_H_ADC) break; |
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| 83 | } |
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| 84 | DruckOffsetSetting = off; |
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| 85 | SetParamByte(PID_PRESSURE_OFFSET, off); |
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| 86 | #endif |
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| 87 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE; |
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| 88 | OCR0A = off; |
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| 89 | Delay_ms_Mess(300); |
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| 90 | } |
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| 91 | |||
| 92 | |||
| 93 | void SucheGyroOffset(void) |
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| 94 | { |
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| 95 | unsigned char i, ready = 0; |
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| 96 | int timeout; |
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| 97 | timeout = SetDelay(2000); |
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| 98 | for(i=140; i != 0; i--) |
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| 99 | { |
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| 100 | if(ready == 3 && i > 10) i = 9; |
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| 101 | ready = 0; |
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| 102 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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| 103 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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| 104 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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| 105 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
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| 106 | if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;}; |
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| 107 | if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;}; |
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| 108 | if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 245;}; |
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| 109 | 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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| 110 | AdReady = 0; |
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| 111 | ANALOG_ON; |
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| 112 | while(!AdReady); |
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| 113 | if(i<10) Delay_ms_Mess(10); |
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| 114 | } |
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| 115 | Delay_ms_Mess(70); |
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| 116 | } |
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| 117 | |||
| 118 | /* |
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| 119 | |||
| 120 | 1 r |
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| 121 | 2 g |
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| 122 | 3 y |
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| 123 | 4 x |
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| 124 | 5 n |
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| 125 | 6 r |
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| 126 | 7 u |
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| 127 | 8 z |
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| 128 | 9 L |
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| 129 | 10 n |
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| 130 | 11 r |
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| 131 | 12 g |
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| 132 | 13 y |
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| 133 | 14 x |
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| 134 | 15 n |
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| 135 | 16 r |
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| 136 | 17 L |
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| 137 | */ |
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| 138 | |||
| 139 | //####################################################################################### |
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| 140 | // |
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| 141 | ISR(ADC_vect) |
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| 142 | //####################################################################################### |
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| 143 | { |
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| 144 | static unsigned char kanal=0,state = 0; |
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| 145 | static signed char subcount = 0; |
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| 146 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
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| 147 | static signed int accy, accx; |
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| 148 | static long tmpLuftdruck = 0; |
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| 149 | static char messanzahl_Druck = 0; |
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| 150 | switch(state++) |
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| 151 | { |
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| 152 | case 0: |
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| 153 | nick1 = ADC; |
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| 154 | kanal = AD_ROLL; |
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| 155 | break; |
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| 156 | case 1: |
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| 157 | roll1 = ADC; |
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| 158 | kanal = AD_GIER; |
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| 159 | break; |
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| 160 | case 2: |
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| 161 | gier1 = ADC; |
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| 162 | kanal = AD_ACC_Y; |
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| 163 | break; |
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| 164 | case 3: |
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| 165 | Aktuell_ay = NeutralAccY - ADC; |
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| 166 | accy = Aktuell_ay; |
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| 167 | kanal = AD_ACC_X; |
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| 168 | break; |
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| 169 | case 4: |
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| 170 | Aktuell_ax = ADC - NeutralAccX; |
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| 171 | accx = Aktuell_ax; |
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| 172 | kanal = AD_NICK; |
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| 173 | break; |
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| 174 | case 5: |
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| 175 | nick1 += ADC; |
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| 176 | kanal = AD_ROLL; |
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| 177 | break; |
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| 178 | case 6: |
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| 179 | roll1 += ADC; |
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| 180 | kanal = AD_UBAT; |
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| 181 | break; |
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| 182 | case 7: |
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| 183 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
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| 184 | 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 |
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| 185 | else |
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| 186 | #endif |
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| 187 | UBat = (3 * UBat + ADC / 3) / 4; |
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| 188 | kanal = AD_ACC_Z; |
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| 189 | break; |
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| 190 | case 8: |
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| 191 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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| 192 | if(AdWertAccHoch > 1) |
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| 193 | { |
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| 194 | if(NeutralAccZ < 750) |
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| 195 | { |
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| 196 | subcount += 5; |
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| 197 | if(modell_fliegt < 500) subcount += 10; |
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| 198 | } |
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| 199 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
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| 200 | } |
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| 201 | else if(AdWertAccHoch < -1) |
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| 202 | { |
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| 203 | if(NeutralAccZ > 550) |
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| 204 | { |
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| 205 | subcount -= 5; |
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| 206 | if(modell_fliegt < 500) subcount -= 10; |
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| 207 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
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| 208 | } |
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| 209 | } |
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| 210 | messanzahl_AccHoch = 1; |
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| 211 | Aktuell_az = ADC; |
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| 212 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 213 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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| 214 | kanal = AD_DRUCK; |
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| 215 | break; |
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| 216 | // "case 9:" fehlt hier absichtlich |
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| 217 | case 10: |
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| 218 | nick1 += ADC; |
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| 219 | kanal = AD_ROLL; |
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| 220 | break; |
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| 221 | case 11: |
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| 222 | roll1 += ADC; |
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| 223 | kanal = AD_GIER; |
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| 224 | break; |
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| 225 | case 12: |
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| 226 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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| 227 | else |
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| 228 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
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| 229 | else AdWertGier = (ADC + gier1); |
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| 230 | kanal = AD_ACC_Y; |
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| 231 | break; |
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| 232 | case 13: |
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| 233 | Aktuell_ay = NeutralAccY - ADC; |
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| 234 | AdWertAccRoll = (Aktuell_ay + accy); |
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| 235 | kanal = AD_ACC_X; |
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| 236 | break; |
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| 237 | case 14: |
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| 238 | Aktuell_ax = ADC - NeutralAccX; |
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| 239 | AdWertAccNick = (Aktuell_ax + accx); |
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| 240 | kanal = AD_NICK; |
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| 241 | break; |
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| 242 | case 15: |
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| 243 | nick1 += ADC; |
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| 244 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
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| 245 | AdWertNick = nick1 / 8; |
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| 246 | nick_filter = (nick_filter + nick1) / 2; |
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| 247 | HiResNick = nick_filter - AdNeutralNick; |
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| 248 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
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| 249 | kanal = AD_ROLL; |
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| 250 | break; |
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| 251 | case 16: |
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| 252 | roll1 += ADC; |
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| 253 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
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| 254 | AdWertRoll = roll1 / 8; |
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| 255 | roll_filter = (roll_filter + roll1) / 2; |
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| 256 | HiResRoll = roll_filter - AdNeutralRoll; |
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| 257 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
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| 258 | kanal = AD_DRUCK; |
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| 259 | break; |
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| 260 | case 17: |
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| 261 | state = 0; |
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| 262 | AdReady = 1; |
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| 263 | ZaehlMessungen++; |
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| 264 | // "break" fehlt hier absichtlich |
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| 265 | case 9: |
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| 266 | MessLuftdruck = ADC; |
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| 267 | tmpLuftdruck += MessLuftdruck; |
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| 268 | if(++messanzahl_Druck >= 18) |
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| 269 | { |
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| 270 | signed int tmp; |
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| 271 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
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| 272 | HoehenWert = StartLuftdruck - Luftdruck; |
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| 273 | SummenHoehe -= SummenHoehe/SM_FILTER; |
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| 274 | SummenHoehe += HoehenWert; |
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| 275 | tmp = (HoehenWert - SummenHoehe/SM_FILTER); |
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| 276 | if(tmp > 1024) tmp = 1024; else if(tmp < -1024) tmp = -1024; |
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| 277 | if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16; |
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| 278 | else VarioMeter = (31 * VarioMeter + 8 * tmp)/32; |
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| 279 | tmpLuftdruck /= 2; |
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| 280 | messanzahl_Druck = 18/2; |
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| 281 | } |
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| 282 | kanal = AD_NICK; |
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| 283 | break; |
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| 284 | default: |
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| 285 | kanal = 0; state = 0; kanal = AD_NICK; |
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| 286 | break; |
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| 287 | } |
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| 288 | ADMUX = kanal; |
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| 289 | if(state != 0) ANALOG_ON; |
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| 290 | } |
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| 291 |