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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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11 | volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
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12 | volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
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13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
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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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19 | volatile int HoeheD = 0; |
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20 | volatile char messanzahl_Druck; |
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21 | volatile int tmpLuftdruck; |
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22 | volatile unsigned int ZaehlMessungen = 0; |
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23 | |||
24 | //####################################################################################### |
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25 | // |
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26 | void ADC_Init(void) |
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27 | //####################################################################################### |
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28 | { |
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29 | ADMUX = 0;//Referenz ist extern |
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30 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
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31 | //Free Running Mode, Division Factor 128, Interrupt on |
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32 | } |
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33 | |||
34 | void SucheLuftruckOffset(void) |
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35 | { |
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36 | unsigned int off; |
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37 | for(off=0; off < 250;off++) |
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38 | { |
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39 | OCR0A = off; |
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40 | Delay_ms(50); |
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41 | printf("."); |
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42 | if(MessLuftdruck < 900) break; |
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43 | } |
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44 | DruckOffsetSetting = off; |
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45 | Delay_ms(200); |
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46 | } |
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47 | |||
48 | |||
49 | //####################################################################################### |
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50 | // |
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51 | SIGNAL(SIG_ADC) |
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52 | //####################################################################################### |
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53 | { |
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54 | static unsigned char kanal=0,state = 0; |
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55 | signed int wert; |
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56 | ANALOG_OFF; |
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57 | switch(state++) |
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58 | { |
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59 | case 0: |
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60 | wert = (signed int) AdNeutralGier - ADC; |
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61 | AccumulateGier += wert; // |
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62 | MessanzahlGier++; |
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63 | Mess_Integral_Gier += wert;// / 16; |
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64 | Mess_Integral_Gier2 += wert; |
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124 | salvo | 65 | GyroKomp_Int += wert; |
1 | ingob | 66 | kanal = 1; |
67 | ZaehlMessungen++; |
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68 | break; |
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69 | case 1: |
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70 | wert = (signed int) ADC - AdNeutralRoll; |
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71 | Mess_IntegralRoll += wert; |
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72 | Mess_IntegralRoll2 += wert; |
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73 | if(ADC < 10) wert = -700; |
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74 | if(ADC > 1000) wert = +700; |
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75 | AccumulateRoll += wert; |
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76 | MessanzahlRoll++; |
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77 | kanal = 2; |
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78 | break; |
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79 | case 2: |
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80 | wert = (signed int) ADC - AdNeutralNick; |
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81 | Mess_IntegralNick += wert; |
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82 | Mess_IntegralNick2 += wert; |
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83 | if(ADC < 10) wert = -700; |
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84 | if(ADC > 1000) wert = +700; |
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85 | AccumulateNick += wert; |
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86 | MessanzahlNick++; |
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87 | kanal = 4; |
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88 | break; |
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89 | case 3: |
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90 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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91 | kanal = 6; |
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92 | break; |
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93 | case 4: |
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94 | Aktuell_ay = NeutralAccY - ADC; |
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95 | accumulate_AccRoll += Aktuell_ay; |
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96 | messanzahl_AccRoll++; |
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97 | kanal = 7; |
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98 | break; |
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99 | case 5: |
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100 | Aktuell_ay = ADC - NeutralAccX; |
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101 | accumulate_AccNick += Aktuell_ay; |
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102 | messanzahl_AccNick++; |
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103 | kanal = 5; |
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104 | state = 6; |
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105 | break; |
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106 | case 6: |
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107 | accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
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108 | accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
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109 | if(accumulate_AccHoch > 1) |
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110 | { |
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117 | salvo | 111 | if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
1 | ingob | 112 | } |
113 | else if(accumulate_AccHoch < -1) |
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114 | { |
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115 | if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
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116 | } |
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117 | messanzahl_AccHoch = 1; |
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118 | Aktuell_az = ADC; |
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119 | Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
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120 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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121 | // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
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122 | /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
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123 | { |
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124 | kanal = 3; |
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125 | state = 7; |
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126 | } |
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127 | else |
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128 | { |
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129 | kanal = 0; |
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130 | state = 0; |
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131 | }*/ |
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132 | kanal = 3; |
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133 | state = 7; |
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134 | break; |
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135 | case 7: |
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136 | tmpLuftdruck += ADC; |
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137 | if(++messanzahl_Druck >= 5) |
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138 | { |
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139 | MessLuftdruck = ADC; |
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140 | messanzahl_Druck = 0; |
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141 | HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
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142 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
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143 | HoehenWert = StartLuftdruck - Luftdruck; |
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144 | tmpLuftdruck = 0; |
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145 | } |
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146 | kanal = 0; |
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147 | state = 0; |
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148 | break; |
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149 | default: |
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150 | kanal = 0; |
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151 | state = 0; |
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152 | break; |
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153 | } |
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154 | ADMUX = kanal; |
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155 | ANALOG_ON; |
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156 | } |