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528 salvo 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + only for non-profit use
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// + www.MikroKopter.com
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "main.h"
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volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
529 salvo 11
volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
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volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
528 salvo 13
volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0;
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volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0;
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volatile long Luftdruck = 32000;
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volatile int  StartLuftdruck;
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volatile unsigned int  MessLuftdruck = 1023;
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unsigned char DruckOffsetSetting;
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volatile int HoeheD = 0;
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volatile char messanzahl_Druck;
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volatile int  tmpLuftdruck;
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volatile unsigned int ZaehlMessungen = 0;
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//#######################################################################################
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//
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void ADC_Init(void)
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//#######################################################################################
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{
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    ADMUX = 0;//Referenz ist extern
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    ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE);
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    //Free Running Mode, Division Factor 128, Interrupt on
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}
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void SucheLuftruckOffset(void)
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{
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 unsigned int off;
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 off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
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 if(off > 20) off -= 10;
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 OCR0A = off;
529 salvo 40
 Delay_ms_Mess(100);
528 salvo 41
 if(MessLuftdruck < 850) off = 0;
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 for(; off < 250;off++)
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  {
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  OCR0A = off;
529 salvo 45
  Delay_ms_Mess(50);
528 salvo 46
  printf(".");  
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  if(MessLuftdruck < 900) break;
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  }
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 eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
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 DruckOffsetSetting = off;
529 salvo 51
 Delay_ms_Mess(300);
528 salvo 52
}
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//#######################################################################################
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//
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SIGNAL(SIG_ADC)
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//#######################################################################################
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{
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    static unsigned char kanal=0,state = 0;
529 salvo 61
    static unsigned int gier1, roll1, nick1;
528 salvo 62
    ANALOG_OFF;
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    switch(state++)
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        {
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        case 0:
529 salvo 66
            gier1 = ADC;
528 salvo 67
            kanal = 1;
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            ZaehlMessungen++;
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            break;
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        case 1:
529 salvo 71
            roll1 = ADC;
528 salvo 72
            kanal = 2;
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            break;
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        case 2:
529 salvo 75
            nick1 = ADC;
528 salvo 76
            kanal = 4;
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            break;
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        case 3:
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            UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19)  / 2;
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            kanal = 6;
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            break;
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        case 4:
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            Aktuell_ay = NeutralAccY - ADC;
529 salvo 84
            AdWertAccRoll = Aktuell_ay;
528 salvo 85
            kanal = 7;
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            break;
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        case 5:
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            Aktuell_ax = ADC - NeutralAccX;
529 salvo 89
            AdWertAccNick =  Aktuell_ax;
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                    kanal = 0;
528 salvo 91
            break;
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        case 6:
529 salvo 93
            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1) / 2;
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                        else                                       AdWertGier = ADC + gier1;
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            kanal = 1;
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            break;
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        case 7:
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            if(PlatinenVersion == 10)  AdWertRoll = (ADC + roll1) / 2;
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                        else                                       AdWertRoll = ADC + roll1;
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            kanal = 2;
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            break;
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        case 8:
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            if(PlatinenVersion == 10)  AdWertNick = (ADC + nick1) / 2;
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                        else                                       AdWertNick = ADC + nick1;
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            kanal = 5;
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            break;
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       case 9:
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            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
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            AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4;
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            if(AdWertAccHoch > 1)
528 salvo 111
             {
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              if(NeutralAccZ < 800) NeutralAccZ+= 0.02;
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             }  
529 salvo 114
             else if(AdWertAccHoch < -1)
528 salvo 115
             {
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              if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
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             }
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            messanzahl_AccHoch = 1;
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            Aktuell_az = ADC;
529 salvo 120
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
528 salvo 121
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
529 salvo 122
                kanal = 3;
528 salvo 123
            break;
529 salvo 124
        case 10:
528 salvo 125
            tmpLuftdruck += ADC;
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            if(++messanzahl_Druck >= 5)
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                {
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                MessLuftdruck = ADC;
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                messanzahl_Druck = 0;
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                                HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert);  // D-Anteil = neuerWert - AlterWert
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                Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
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                HoehenWert = StartLuftdruck - Luftdruck;
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                tmpLuftdruck = 0;
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                }
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            kanal = 0;
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            state = 0;
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            break;
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        default:
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            kanal = 0;
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            state = 0;
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            break;
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        }
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    ADMUX = kanal;
529 salvo 144
    if(state != 0) ANALOG_ON;
528 salvo 145
}