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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1338 ingob 2
// + Copyright (c) Holger Buss, Ingo Busker
1 ingob 3
// + only for non-profit use
4
// + www.MikroKopter.com
1356 hbuss 5
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
1 ingob 6
// + see the File "License.txt" for further Informations
7
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
8
 
9
#include "main.h"
1622 killagreg 10
#include "eeprom.h"
1 ingob 11
volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
1166 hbuss 12
volatile int  AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
13
volatile int  HiResNick = 2500, HiResRoll = 2500;
380 hbuss 14
volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
15
volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
1166 hbuss 16
volatile char messanzahl_AccHoch = 0;
1 ingob 17
volatile long Luftdruck = 32000;
1322 hbuss 18
volatile long SummenHoehe = 0;
1 ingob 19
volatile int  StartLuftdruck;
20
volatile unsigned int  MessLuftdruck = 1023;
21
unsigned char DruckOffsetSetting;
1036 hbuss 22
signed char ExpandBaro = 0;
1253 killagreg 23
volatile int VarioMeter = 0;
1 ingob 24
volatile unsigned int ZaehlMessungen = 0;
918 hbuss 25
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
1168 hbuss 26
volatile unsigned char AdReady = 1;
1643 holgerb 27
float NeutralAccZ_float;
1 ingob 28
//#######################################################################################
29
//
30
void ADC_Init(void)
31
//#######################################################################################
1246 killagreg 32
{
1 ingob 33
    ADMUX = 0;//Referenz ist extern
1155 hbuss 34
    ANALOG_ON;
1 ingob 35
}
36
 
1352 hbuss 37
#define DESIRED_H_ADC 800
1322 hbuss 38
 
1 ingob 39
void SucheLuftruckOffset(void)
40
{
41
 unsigned int off;
1622 killagreg 42
 off = GetParamByte(PID_PRESSURE_OFFSET);
173 holgerb 43
 if(off > 20) off -= 10;
44
 OCR0A = off;
1036 hbuss 45
 ExpandBaro = 0;
380 hbuss 46
 Delay_ms_Mess(100);
1322 hbuss 47
 if(MessLuftdruck < DESIRED_H_ADC) off = 0;
173 holgerb 48
 for(; off < 250;off++)
1 ingob 49
  {
50
  OCR0A = off;
380 hbuss 51
  Delay_ms_Mess(50);
1246 killagreg 52
  printf(".");
1322 hbuss 53
  if(MessLuftdruck < DESIRED_H_ADC) break;
1 ingob 54
  }
1622 killagreg 55
 SetParamByte(PID_PRESSURE_OFFSET, off);
173 holgerb 56
 DruckOffsetSetting = off;
1702 holgerb 57
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= DEFEKT_PRESSURE;
1638 holgerb 58
 OCR0A = off;
380 hbuss 59
 Delay_ms_Mess(300);
1 ingob 60
}
61
 
918 hbuss 62
void SucheGyroOffset(void)
63
{
64
 unsigned char i, ready = 0;
1219 hbuss 65
 int timeout;
66
 timeout = SetDelay(2000);
918 hbuss 67
 for(i=140; i != 0; i--)
68
  {
921 hbuss 69
   if(ready == 3 && i > 10) i = 9;
918 hbuss 70
   ready = 0;
71
   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
72
   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
73
   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
1662 killagreg 74
   I2C_Start(TWI_STATE_GYRO_OFFSET_TX);
1702 holgerb 75
   if(AnalogOffsetNick < 10)  { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 245;};
76
   if(AnalogOffsetRoll < 10)  { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;};
77
   if(AnalogOffsetGier < 10)  { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 245;};
1219 hbuss 78
   while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
1253 killagreg 79
   AdReady = 0;
918 hbuss 80
   ANALOG_ON;
1253 killagreg 81
   while(!AdReady);
1246 killagreg 82
   if(i<10) Delay_ms_Mess(10);
918 hbuss 83
  }
1246 killagreg 84
   Delay_ms_Mess(70);
85
}
1 ingob 86
 
1171 hbuss 87
/*
88
 
89
1  r
1246 killagreg 90
2     g
1171 hbuss 91
3     y
92
4     x
93
5  n
94
6  r
95
7     u
96
8     z
97
9     L
1246 killagreg 98
10 n
1171 hbuss 99
11 r
100
12    g
101
13    y
102
14    x
103
15 n
104
16 r
105
17    L
106
*/
107
 
1 ingob 108
//#######################################################################################
109
//
1561 killagreg 110
ISR(ADC_vect)
1 ingob 111
//#######################################################################################
112
{
113
    static unsigned char kanal=0,state = 0;
1687 holgerb 114
        static signed char subcount = 0;
1246 killagreg 115
    static signed int gier1, roll1, nick1, nick_filter, roll_filter;
1687 holgerb 116
        static signed int accy, accx;
1253 killagreg 117
        static long tmpLuftdruck = 0;
118
        static char messanzahl_Druck = 0;
1171 hbuss 119
    switch(state++)
120
        {
121
        case 0:
122
            nick1 = ADC;
123
            kanal = AD_ROLL;
124
            break;
125
        case 1:
126
            roll1 = ADC;
127
                    kanal = AD_GIER;
128
            break;
129
        case 2:
130
            gier1 = ADC;
131
            kanal = AD_ACC_Y;
132
            break;
133
        case 3:
134
            Aktuell_ay = NeutralAccY - ADC;
135
            accy = Aktuell_ay;
136
                    kanal = AD_ACC_X;
137
            break;
138
        case 4:
139
            Aktuell_ax = ADC - NeutralAccX;
140
            accx =  Aktuell_ax;
141
            kanal = AD_NICK;
142
            break;
143
        case 5:
144
            nick1 += ADC;
145
            kanal = AD_ROLL;
146
            break;
147
        case 6:
148
            roll1 += ADC;
149
            kanal = AD_UBAT;
150
            break;
151
        case 7:
152
            UBat = (3 * UBat + ADC / 3) / 4;
153
                    kanal = AD_ACC_Z;
154
            break;
155
       case 8:
156
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
1246 killagreg 157
            if(AdWertAccHoch > 1)
1171 hbuss 158
             {
1246 killagreg 159
              if(NeutralAccZ < 750)
1171 hbuss 160
               {
1695 holgerb 161
                subcount += 5;
1701 holgerb 162
                if(modell_fliegt < 500) subcount += 10;
1639 holgerb 163
               }
1687 holgerb 164
              if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
1639 holgerb 165
             }
166
             else if(AdWertAccHoch < -1)
167
             {
168
              if(NeutralAccZ > 550)
169
                {
1695 holgerb 170
                 subcount -= 5;
1701 holgerb 171
                 if(modell_fliegt < 500) subcount -= 10;
1687 holgerb 172
                 if(subcount < -100) { NeutralAccZ--; subcount += 100;}
1639 holgerb 173
                }
174
             }
1171 hbuss 175
            messanzahl_AccHoch = 1;
176
            Aktuell_az = ADC;
177
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
178
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
179
                kanal = AD_DRUCK;
180
            break;
1701 holgerb 181
   // "case 9:" fehlt hier absichtlich
1171 hbuss 182
        case 10:
183
            nick1 += ADC;
184
            kanal = AD_ROLL;
185
            break;
186
        case 11:
187
            roll1 += ADC;
188
                    kanal = AD_GIER;
189
            break;
190
        case 12:
191
            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 1) / 2;
1246 killagreg 192
            else
1660 holgerb 193
            if(PlatinenVersion >= 20)  AdWertGier = 2047 - (ADC + gier1);
1171 hbuss 194
                        else                                       AdWertGier = (ADC + gier1);
195
            kanal = AD_ACC_Y;
196
            break;
197
        case 13:
198
            Aktuell_ay = NeutralAccY - ADC;
199
            AdWertAccRoll = (Aktuell_ay + accy);
200
            kanal = AD_ACC_X;
201
            break;
202
        case 14:
203
            Aktuell_ax = ADC - NeutralAccX;
204
            AdWertAccNick =  (Aktuell_ax + accx);
205
            kanal = AD_NICK;
206
            break;
207
        case 15:
208
            nick1 += ADC;
1173 hbuss 209
            if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4;
210
            AdWertNick = nick1 / 8;
211
            nick_filter = (nick_filter + nick1) / 2;
212
            HiResNick = nick_filter - AdNeutralNick;
1171 hbuss 213
            AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
214
            kanal = AD_ROLL;
215
            break;
216
        case 16:
217
            roll1 += ADC;
1173 hbuss 218
            if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4;
219
            AdWertRoll = roll1 / 8;
220
            roll_filter = (roll_filter + roll1) / 2;
221
            HiResRoll = roll_filter - AdNeutralRoll;
1171 hbuss 222
            AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
223
                kanal = AD_DRUCK;
224
            break;
225
        case 17:
226
            state = 0;
227
                        AdReady = 1;
228
            ZaehlMessungen++;
229
            // "break" fehlt hier absichtlich
230
        case 9:
1253 killagreg 231
                MessLuftdruck = ADC;
232
            tmpLuftdruck += MessLuftdruck;
233
            if(++messanzahl_Druck >= 18)
234
            {
1266 killagreg 235
                                Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8;  // -523.19 counts per 10 counts offset step
1253 killagreg 236
                                HoehenWert = StartLuftdruck - Luftdruck;
1272 hbuss 237
                                SummenHoehe -= SummenHoehe/SM_FILTER;
1253 killagreg 238
                                SummenHoehe += HoehenWert;
1695 holgerb 239
                                VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;
1272 hbuss 240
                tmpLuftdruck /= 2;
241
                messanzahl_Druck = 18/2;
1253 killagreg 242
            }
1171 hbuss 243
            kanal = AD_NICK;
244
            break;
1246 killagreg 245
        default:
1171 hbuss 246
            kanal = 0; state = 0; kanal = AD_NICK;
247
            break;
1246 killagreg 248
        }
1171 hbuss 249
    ADMUX = kanal;
250
    if(state != 0) ANALOG_ON;
251
}
252