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438 | Nick666 | 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 AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
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12 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 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<<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 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
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38 | if(off > 20) off -= 10; |
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39 | OCR0A = off; |
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40 | Delay_ms_Mess(100); |
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41 | if(MessLuftdruck < 850) off = 0; |
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42 | for(; off < 250;off++) |
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43 | { |
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44 | OCR0A = off; |
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45 | Delay_ms_Mess(50); |
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46 | printf("."); |
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47 | if(MessLuftdruck < 900) break; |
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48 | } |
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49 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
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50 | DruckOffsetSetting = off; |
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51 | Delay_ms_Mess(300); |
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52 | } |
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53 | |||
54 | |||
55 | //####################################################################################### |
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56 | // |
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57 | SIGNAL(SIG_ADC) |
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58 | //####################################################################################### |
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59 | { |
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60 | static unsigned char kanal=0,state = 0; |
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61 | static unsigned int gier1, roll1, nick1; |
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62 | ANALOG_OFF; |
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63 | switch(state++) |
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64 | { |
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65 | case 0: |
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66 | gier1 = ADC; |
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67 | kanal = 1; |
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68 | ZaehlMessungen++; |
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69 | break; |
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70 | case 1: |
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71 | roll1 = ADC; |
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72 | kanal = 2; |
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73 | break; |
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74 | case 2: |
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75 | nick1 = ADC; |
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76 | kanal = 4; |
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77 | break; |
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78 | case 3: |
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79 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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80 | kanal = 6; |
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81 | break; |
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82 | case 4: |
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479 | Nick666 | 83 | Aktuell_ay = acc_neutral.Y - ADC; |
438 | Nick666 | 84 | AdWertAccRoll = Aktuell_ay; |
85 | kanal = 7; |
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86 | break; |
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87 | case 5: |
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479 | Nick666 | 88 | Aktuell_ax = ADC - acc_neutral.X; |
438 | Nick666 | 89 | AdWertAccNick = Aktuell_ax; |
90 | kanal = 0; |
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91 | break; |
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92 | case 6: |
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93 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
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94 | else AdWertGier = ADC + gier1; |
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95 | kanal = 1; |
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96 | break; |
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97 | case 7: |
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98 | if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
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99 | else AdWertRoll = ADC + roll1; |
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100 | kanal = 2; |
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101 | break; |
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102 | case 8: |
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103 | if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
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104 | else AdWertNick = ADC + nick1; |
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105 | kanal = 5; |
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106 | break; |
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107 | case 9: |
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479 | Nick666 | 108 | AdWertAccHoch = (signed int) ADC - acc_neutral.Z; |
438 | Nick666 | 109 | AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
110 | if(AdWertAccHoch > 1) |
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111 | { |
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479 | Nick666 | 112 | if(acc_neutral.Z < 800) acc_neutral.Z+= 0.02; |
438 | Nick666 | 113 | } |
114 | else if(AdWertAccHoch < -1) |
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115 | { |
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479 | Nick666 | 116 | if(acc_neutral.Z > 600) acc_neutral.Z-= 0.02; |
438 | Nick666 | 117 | } |
118 | messanzahl_AccHoch = 1; |
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119 | Aktuell_az = ADC; |
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120 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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121 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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122 | kanal = 3; |
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123 | break; |
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124 | case 10: |
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125 | tmpLuftdruck += ADC; |
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126 | if(++messanzahl_Druck >= 5) |
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127 | { |
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128 | MessLuftdruck = ADC; |
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129 | messanzahl_Druck = 0; |
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130 | HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
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131 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
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132 | HoehenWert = StartLuftdruck - Luftdruck; |
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133 | tmpLuftdruck = 0; |
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134 | } |
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135 | kanal = 0; |
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136 | state = 0; |
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137 | break; |
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138 | default: |
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139 | kanal = 0; |
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140 | state = 0; |
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141 | break; |
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142 | } |
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143 | ADMUX = kanal; |
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144 | if(state != 0) ANALOG_ON; |
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145 | } |