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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + www.MikroKopter.com
3
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2050 holgerb 4
// + Software Nutzungsbedingungen (english version: see below)
5
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
8
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
11
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
12
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
13
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
17
// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
19
// + des Mitverschuldens offen.
20
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
21
// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29
// + Software LICENSING TERMS
30
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
32
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
33
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34
// + The Software may only be used with the Licensor's products.
35
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37
// + agreement shall be the property of the Licensor.
38
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39
// + features that can be used to identify the program may not be altered or defaced by the customer.
40
// + The customer shall be responsible for taking reasonable precautions
41
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
43
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50
// + #### END OF LICENSING TERMS ####
51
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
52
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 ingob 53
 
54
#include "main.h"
1622 killagreg 55
#include "eeprom.h"
1 ingob 56
volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
1166 hbuss 57
volatile int  AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
58
volatile int  HiResNick = 2500, HiResRoll = 2500;
380 hbuss 59
volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
60
volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
1 ingob 61
volatile long Luftdruck = 32000;
1322 hbuss 62
volatile long SummenHoehe = 0;
2309 holgerb 63
volatile long StartLuftdruck;
1 ingob 64
volatile unsigned int  MessLuftdruck = 1023;
65
unsigned char DruckOffsetSetting;
1036 hbuss 66
signed char ExpandBaro = 0;
1253 killagreg 67
volatile int VarioMeter = 0;
1 ingob 68
volatile unsigned int ZaehlMessungen = 0;
918 hbuss 69
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
1168 hbuss 70
volatile unsigned char AdReady = 1;
2367 holgerb 71
unsigned int BaroStep = 500;
72
long ExpandBaroStep = 0;
2309 holgerb 73
volatile long HoehenWertF = 0;
2367 holgerb 74
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
75
unsigned char CalAthmospheare = 16;
2370 holgerb 76
unsigned char AD_ACC_Y = 6;
77
unsigned char AD_ACC_X = 7;
2367 holgerb 78
#endif
79
 
1 ingob 80
//#######################################################################################
81
void ADC_Init(void)
82
//#######################################################################################
1246 killagreg 83
{
1 ingob 84
    ADMUX = 0;//Referenz ist extern
1155 hbuss 85
    ANALOG_ON;
1 ingob 86
}
87
 
2369 holgerb 88
#define DESIRED_H_ADC 800
1322 hbuss 89
 
2367 holgerb 90
void CalcExpandBaroStep(void)
91
{
92
  if(ACC_AltitudeControl) ExpandBaroStep = BaroStep * (long)ExpandBaro;
93
  else ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4;
94
}
95
 
1 ingob 96
void SucheLuftruckOffset(void)
97
{
98
 unsigned int off;
1036 hbuss 99
 ExpandBaro = 0;
2367 holgerb 100
 CalcExpandBaroStep();
1726 holgerb 101
  off = GetParamByte(PID_PRESSURE_OFFSET);
2369 holgerb 102
  if(off < 240) off += 10;
1 ingob 103
  OCR0A = off;
2367 holgerb 104
  OCR0B = 255-off;
105
  Delay_ms_Mess(150);
2369 holgerb 106
  if(MessLuftdruck > DESIRED_H_ADC) off = 240;
107
  for(; off > 5; off--)
1726 holgerb 108
   {
2369 holgerb 109
    OCR0A = off;
110
    OCR0B = 255-off;
111
    Delay_ms_Mess(100);
112
    printf(".");
113
    if(MessLuftdruck > DESIRED_H_ADC) break;
1726 holgerb 114
   }
115
   DruckOffsetSetting = off;
116
   SetParamByte(PID_PRESSURE_OFFSET, off);
2369 holgerb 117
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 230)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE;
2367 holgerb 118
 
119
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
120
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
121
// + correction of the altitude error in higher altitudes
122
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
123
 CalAthmospheare = 16;
124
 if(ACC_AltitudeControl)
125
  {
126
   if(PlatinenVersion < 23) { if(off < 140) CalAthmospheare += (160 - off) / 26; }
127
   else { if(off < 170) CalAthmospheare += (188 - off) / 19; }
128
  }
129
 Luftdruck = MessLuftdruck * CalAthmospheare;
1726 holgerb 130
#endif
380 hbuss 131
 Delay_ms_Mess(300);
1 ingob 132
}
133
 
1726 holgerb 134
 
918 hbuss 135
void SucheGyroOffset(void)
136
{
137
 unsigned char i, ready = 0;
1219 hbuss 138
 int timeout;
139
 timeout = SetDelay(2000);
918 hbuss 140
 for(i=140; i != 0; i--)
141
  {
921 hbuss 142
   if(ready == 3 && i > 10) i = 9;
918 hbuss 143
   ready = 0;
144
   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
145
   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
146
   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
1662 killagreg 147
   I2C_Start(TWI_STATE_GYRO_OFFSET_TX);
1765 killagreg 148
   if(AnalogOffsetNick < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;};
149
   if(AnalogOffsetRoll < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;};
150
   if(AnalogOffsetGier < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW;  AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW;  AnalogOffsetGier = 245;};
1219 hbuss 151
   while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
1253 killagreg 152
   AdReady = 0;
918 hbuss 153
   ANALOG_ON;
1253 killagreg 154
   while(!AdReady);
1246 killagreg 155
   if(i<10) Delay_ms_Mess(10);
918 hbuss 156
  }
1246 killagreg 157
   Delay_ms_Mess(70);
158
}
1 ingob 159
 
1171 hbuss 160
/*
161
 
162
1  r
1246 killagreg 163
2     g
1171 hbuss 164
3     y
165
4     x
166
5  n
167
6  r
168
7     u
169
8     z
170
9     L
1246 killagreg 171
10 n
1171 hbuss 172
11 r
173
12    g
174
13    y
175
14    x
176
15 n
177
16 r
178
17    L
179
*/
180
 
2309 holgerb 181
 
1 ingob 182
//#######################################################################################
183
//
1561 killagreg 184
ISR(ADC_vect)
1 ingob 185
//#######################################################################################
186
{
187
    static unsigned char kanal=0,state = 0;
2316 holgerb 188
        static signed int subcount = 0;
1246 killagreg 189
    static signed int gier1, roll1, nick1, nick_filter, roll_filter;
1687 holgerb 190
        static signed int accy, accx;
1253 killagreg 191
        static long tmpLuftdruck = 0;
192
        static char messanzahl_Druck = 0;
1171 hbuss 193
    switch(state++)
194
        {
195
        case 0:
196
            nick1 = ADC;
197
            kanal = AD_ROLL;
198
            break;
199
        case 1:
200
            roll1 = ADC;
201
                    kanal = AD_GIER;
202
            break;
203
        case 2:
204
            gier1 = ADC;
205
            kanal = AD_ACC_Y;
206
            break;
207
        case 3:
208
            Aktuell_ay = NeutralAccY - ADC;
209
            accy = Aktuell_ay;
210
                    kanal = AD_ACC_X;
211
            break;
212
        case 4:
213
            Aktuell_ax = ADC - NeutralAccX;
214
            accx =  Aktuell_ax;
215
            kanal = AD_NICK;
216
            break;
217
        case 5:
218
            nick1 += ADC;
219
            kanal = AD_ROLL;
220
            break;
221
        case 6:
222
            roll1 += ADC;
223
            kanal = AD_UBAT;
224
            break;
225
        case 7:
1806 holgerb 226
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
227
            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
228
                        else  
229
#endif
230
                        UBat = (3 * UBat + ADC / 3) / 4;
1171 hbuss 231
                    kanal = AD_ACC_Z;
232
            break;
233
       case 8:
2309 holgerb 234
                         Aktuell_az = ADC;
2316 holgerb 235
                         AdWertAccHoch = Aktuell_az - NeutralAccZ - (int) NeutralAccZfine;
2309 holgerb 236
                     if(!ACC_AltitudeControl) // The Offset must be corrected, because of the ACC-Drift from vibrations
237
                     {
238
                      if(AdWertAccHoch > 1)
1171 hbuss 239
               {
2309 holgerb 240
                if(NeutralAccZ < 750)
241
                 {
242
                  subcount += 5;
243
                  if(modell_fliegt < 500) subcount += 10;
2316 holgerb 244
                  if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
2309 holgerb 245
                 }
1639 holgerb 246
               }
2309 holgerb 247
               else if(AdWertAccHoch < -1)
248
               {
249
                if(NeutralAccZ > 550)
250
                 {
251
                  subcount -= 5;
252
                  if(modell_fliegt < 500) subcount -= 10;
253
                  if(subcount < -100) { NeutralAccZ--; subcount += 100;}
254
                 }
255
               }
1639 holgerb 256
             }
2316 holgerb 257
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
258
                         else
259
                         if(CosAttitude > 8192 - 50) // horizontal leveled within 6°
260
                     {
261
                      if(AdWertAccHoch > 1)
262
               {
263
                  if(++subcount > 5000)
264
                                   {
265
                    if(NeutralAccZfine < 6) NeutralAccZfine++;
266
                                        subcount -= 5000;
267
                                   }
268
               }
269
               else
270
                           if(AdWertAccHoch < -1)
271
               {
272
                  if(--subcount < -5000)
273
                                   {
274
                    if(NeutralAccZfine > -6) NeutralAccZfine--;
275
                                        subcount += 5000;
276
                                   }
277
               }
278
             }
279
#endif
1171 hbuss 280
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
281
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
282
                kanal = AD_DRUCK;
283
            break;
1701 holgerb 284
   // "case 9:" fehlt hier absichtlich
1171 hbuss 285
        case 10:
286
            nick1 += ADC;
287
            kanal = AD_ROLL;
288
            break;
289
        case 11:
290
            roll1 += ADC;
291
                    kanal = AD_GIER;
292
            break;
293
        case 12:
294
            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 1) / 2;
1246 killagreg 295
            else
1660 holgerb 296
            if(PlatinenVersion >= 20)  AdWertGier = 2047 - (ADC + gier1);
1171 hbuss 297
                        else                                       AdWertGier = (ADC + gier1);
298
            kanal = AD_ACC_Y;
299
            break;
300
        case 13:
301
            Aktuell_ay = NeutralAccY - ADC;
302
            AdWertAccRoll = (Aktuell_ay + accy);
303
            kanal = AD_ACC_X;
304
            break;
305
        case 14:
306
            Aktuell_ax = ADC - NeutralAccX;
307
            AdWertAccNick =  (Aktuell_ax + accx);
308
            kanal = AD_NICK;
309
            break;
310
        case 15:
311
            nick1 += ADC;
1173 hbuss 312
            if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4;
313
            AdWertNick = nick1 / 8;
314
            nick_filter = (nick_filter + nick1) / 2;
315
            HiResNick = nick_filter - AdNeutralNick;
1171 hbuss 316
            AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
317
            kanal = AD_ROLL;
318
            break;
319
        case 16:
320
            roll1 += ADC;
1173 hbuss 321
            if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4;
322
            AdWertRoll = roll1 / 8;
323
            roll_filter = (roll_filter + roll1) / 2;
324
            HiResRoll = roll_filter - AdNeutralRoll;
1171 hbuss 325
            AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
326
                kanal = AD_DRUCK;
327
            break;
328
        case 17:
2309 holgerb 329
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
330
                        if(ACC_AltitudeControl)                
331
                        {
2316 holgerb 332
                         HoehenWertF = (ACC_AltitudeFusion(0) + SA_FILTER/2)/SA_FILTER; // cm
2309 holgerb 333
            }
334
                        else HoehenWertF = HoehenWert;
335
#else 
336
                        HoehenWertF = HoehenWert;
337
#endif
338
 
1171 hbuss 339
            state = 0;
340
                        AdReady = 1;
341
            ZaehlMessungen++;
342
            // "break" fehlt hier absichtlich
343
        case 9:
1253 killagreg 344
                MessLuftdruck = ADC;
2309 holgerb 345
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
346
                        if(ACC_AltitudeControl)                
347
                        {
2367 holgerb 348
//                              ExpandBaroStep = BaroStep * (long)ExpandBaro; // wird in fc.c aufgerufen
349
//                              tmpLuftdruck = MessLuftdruck - BaroStep * (long)ExpandBaro;  // -523 counts per offset step
350
                                tmpLuftdruck = MessLuftdruck - ExpandBaroStep;  // -523 counts per offset step
351
                                Luftdruck -= Luftdruck / CalAthmospheare; // 16
2309 holgerb 352
                                Luftdruck += tmpLuftdruck;
353
                                HoehenWert = StartLuftdruck - Luftdruck;        // cm
354
                        }
355
                        else
356
#endif
357
            {   // old version (until FC V2.1)
358
                                tmpLuftdruck += MessLuftdruck;
359
                                if(++messanzahl_Druck >= 16) // war bis 0.86 "18"
360
                                {
1944 holgerb 361
                            signed int tmp;
2367 holgerb 362
//                              Luftdruck = (7 * Luftdruck + tmpLuftdruck - (16 * BaroStep) * (long)ExpandBaro + 4) / 8;  // -523.19 counts per 10 counts offset step
363
//                              ExpandBaroStep = (16 * BaroStep) * (long)ExpandBaro - 4; // wird in fc.c aufgerufen
364
                                Luftdruck = (7 * Luftdruck + tmpLuftdruck - ExpandBaroStep) / 8;  // -523.19 counts per 10 counts offset step
1253 killagreg 365
                                HoehenWert = StartLuftdruck - Luftdruck;
1272 hbuss 366
                                SummenHoehe -= SummenHoehe/SM_FILTER;
1253 killagreg 367
                                SummenHoehe += HoehenWert;
1944 holgerb 368
                                tmp = (HoehenWert - SummenHoehe/SM_FILTER);
1982 holgerb 369
                                if(tmp > 1024) tmp = 1024;      else if(tmp < -1024) tmp = -1024;
370
                if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16;
1944 holgerb 371
                                else VarioMeter = (31 * VarioMeter + 8 * tmp)/32;
1272 hbuss 372
                tmpLuftdruck /= 2;
2009 holgerb 373
                messanzahl_Druck = 16/2;
2309 holgerb 374
                                }
375
                        }
1171 hbuss 376
            kanal = AD_NICK;
377
            break;
1246 killagreg 378
        default:
1171 hbuss 379
            kanal = 0; state = 0; kanal = AD_NICK;
380
            break;
1246 killagreg 381
        }
1171 hbuss 382
    ADMUX = kanal;
383
    if(state != 0) ANALOG_ON;
384
}
385