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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
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// + 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
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// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
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// + 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
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// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
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// + 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;
2309 holgerb 71
volatile long HoehenWertF = 0;
2008 holgerb 72
 
1 ingob 73
//#######################################################################################
74
void ADC_Init(void)
75
//#######################################################################################
1246 killagreg 76
{
1 ingob 77
    ADMUX = 0;//Referenz ist extern
1155 hbuss 78
    ANALOG_ON;
1 ingob 79
}
80
 
1352 hbuss 81
#define DESIRED_H_ADC 800
1322 hbuss 82
 
1 ingob 83
void SucheLuftruckOffset(void)
84
{
85
 unsigned int off;
1036 hbuss 86
 ExpandBaro = 0;
1726 holgerb 87
 
88
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
89
 {
90
  unsigned char off2;
91
  OCR0A = 150;
92
  off2 = GetParamByte(PID_PRESSURE_OFFSET);
93
  if(off2 < 230) off2 += 10;
94
  OCR0B = off2;
95
  Delay_ms_Mess(100);
96
  if(MessLuftdruck > DESIRED_H_ADC) off2 = 240;
97
  for(; off2 >= 5; off2 -= 5)
98
   {
99
   OCR0B = off2;
100
   Delay_ms_Mess(50);
101
   printf("*");
102
   if(MessLuftdruck > DESIRED_H_ADC) break;
103
   }
104
   SetParamByte(PID_PRESSURE_OFFSET, off2);
105
  if(off2 >= 15) off = 140; else off = 0;
106
  for(; off < 250;off++)
107
   {
108
   OCR0A = off;
109
   Delay_ms_Mess(50);
110
   printf(".");
111
   if(MessLuftdruck < DESIRED_H_ADC) break;
112
   }
113
   DruckOffsetSetting = off;
114
 }
1765 killagreg 115
#else
1726 holgerb 116
  off = GetParamByte(PID_PRESSURE_OFFSET);
117
  if(off > 20) off -= 10;
1 ingob 118
  OCR0A = off;
1726 holgerb 119
  Delay_ms_Mess(100);
120
  if(MessLuftdruck < DESIRED_H_ADC) off = 0;
121
  for(; off < 250;off++)
122
   {
123
   OCR0A = off;
124
   Delay_ms_Mess(50);
125
   printf(".");
126
   if(MessLuftdruck < DESIRED_H_ADC) break;
127
   }
128
   DruckOffsetSetting = off;
129
   SetParamByte(PID_PRESSURE_OFFSET, off);
130
#endif
1765 killagreg 131
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= FC_ERROR0_PRESSURE;
1638 holgerb 132
 OCR0A = off;
380 hbuss 133
 Delay_ms_Mess(300);
1 ingob 134
}
135
 
1726 holgerb 136
 
918 hbuss 137
void SucheGyroOffset(void)
138
{
139
 unsigned char i, ready = 0;
1219 hbuss 140
 int timeout;
141
 timeout = SetDelay(2000);
918 hbuss 142
 for(i=140; i != 0; i--)
143
  {
921 hbuss 144
   if(ready == 3 && i > 10) i = 9;
918 hbuss 145
   ready = 0;
146
   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
147
   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
148
   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
1662 killagreg 149
   I2C_Start(TWI_STATE_GYRO_OFFSET_TX);
1765 killagreg 150
   if(AnalogOffsetNick < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;};
151
   if(AnalogOffsetRoll < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;};
152
   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 153
   while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
1253 killagreg 154
   AdReady = 0;
918 hbuss 155
   ANALOG_ON;
1253 killagreg 156
   while(!AdReady);
1246 killagreg 157
   if(i<10) Delay_ms_Mess(10);
918 hbuss 158
  }
1246 killagreg 159
   Delay_ms_Mess(70);
160
}
1 ingob 161
 
1171 hbuss 162
/*
163
 
164
1  r
1246 killagreg 165
2     g
1171 hbuss 166
3     y
167
4     x
168
5  n
169
6  r
170
7     u
171
8     z
172
9     L
1246 killagreg 173
10 n
1171 hbuss 174
11 r
175
12    g
176
13    y
177
14    x
178
15 n
179
16 r
180
17    L
181
*/
182
 
2309 holgerb 183
 
1 ingob 184
//#######################################################################################
185
//
1561 killagreg 186
ISR(ADC_vect)
1 ingob 187
//#######################################################################################
188
{
189
    static unsigned char kanal=0,state = 0;
2316 holgerb 190
        static signed int subcount = 0;
1246 killagreg 191
    static signed int gier1, roll1, nick1, nick_filter, roll_filter;
1687 holgerb 192
        static signed int accy, accx;
1253 killagreg 193
        static long tmpLuftdruck = 0;
194
        static char messanzahl_Druck = 0;
1171 hbuss 195
    switch(state++)
196
        {
197
        case 0:
198
            nick1 = ADC;
199
            kanal = AD_ROLL;
200
            break;
201
        case 1:
202
            roll1 = ADC;
203
                    kanal = AD_GIER;
204
            break;
205
        case 2:
206
            gier1 = ADC;
207
            kanal = AD_ACC_Y;
208
            break;
209
        case 3:
210
            Aktuell_ay = NeutralAccY - ADC;
211
            accy = Aktuell_ay;
212
                    kanal = AD_ACC_X;
213
            break;
214
        case 4:
215
            Aktuell_ax = ADC - NeutralAccX;
216
            accx =  Aktuell_ax;
217
            kanal = AD_NICK;
218
            break;
219
        case 5:
220
            nick1 += ADC;
221
            kanal = AD_ROLL;
222
            break;
223
        case 6:
224
            roll1 += ADC;
225
            kanal = AD_UBAT;
226
            break;
227
        case 7:
1806 holgerb 228
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
229
            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
230
                        else  
231
#endif
232
                        UBat = (3 * UBat + ADC / 3) / 4;
1171 hbuss 233
                    kanal = AD_ACC_Z;
234
            break;
235
       case 8:
2309 holgerb 236
                         Aktuell_az = ADC;
2316 holgerb 237
                         AdWertAccHoch = Aktuell_az - NeutralAccZ - (int) NeutralAccZfine;
2309 holgerb 238
                     if(!ACC_AltitudeControl) // The Offset must be corrected, because of the ACC-Drift from vibrations
239
                     {
240
                      if(AdWertAccHoch > 1)
1171 hbuss 241
               {
2309 holgerb 242
                if(NeutralAccZ < 750)
243
                 {
244
                  subcount += 5;
245
                  if(modell_fliegt < 500) subcount += 10;
2316 holgerb 246
                  if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
2309 holgerb 247
                 }
1639 holgerb 248
               }
2309 holgerb 249
               else if(AdWertAccHoch < -1)
250
               {
251
                if(NeutralAccZ > 550)
252
                 {
253
                  subcount -= 5;
254
                  if(modell_fliegt < 500) subcount -= 10;
255
                  if(subcount < -100) { NeutralAccZ--; subcount += 100;}
256
                 }
257
               }
1639 holgerb 258
             }
2316 holgerb 259
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
260
                         else
261
                         if(CosAttitude > 8192 - 50) // horizontal leveled within 6°
262
                     {
263
                      if(AdWertAccHoch > 1)
264
               {
265
                  if(++subcount > 5000)
266
                                   {
267
                    if(NeutralAccZfine < 6) NeutralAccZfine++;
268
                                        subcount -= 5000;
269
                                   }
270
               }
271
               else
272
                           if(AdWertAccHoch < -1)
273
               {
274
                  if(--subcount < -5000)
275
                                   {
276
                    if(NeutralAccZfine > -6) NeutralAccZfine--;
277
                                        subcount += 5000;
278
                                   }
279
               }
280
             }
281
#endif
1171 hbuss 282
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
283
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
284
                kanal = AD_DRUCK;
285
            break;
1701 holgerb 286
   // "case 9:" fehlt hier absichtlich
1171 hbuss 287
        case 10:
288
            nick1 += ADC;
289
            kanal = AD_ROLL;
290
            break;
291
        case 11:
292
            roll1 += ADC;
293
                    kanal = AD_GIER;
294
            break;
295
        case 12:
296
            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 1) / 2;
1246 killagreg 297
            else
1660 holgerb 298
            if(PlatinenVersion >= 20)  AdWertGier = 2047 - (ADC + gier1);
1171 hbuss 299
                        else                                       AdWertGier = (ADC + gier1);
300
            kanal = AD_ACC_Y;
301
            break;
302
        case 13:
303
            Aktuell_ay = NeutralAccY - ADC;
304
            AdWertAccRoll = (Aktuell_ay + accy);
305
            kanal = AD_ACC_X;
306
            break;
307
        case 14:
308
            Aktuell_ax = ADC - NeutralAccX;
309
            AdWertAccNick =  (Aktuell_ax + accx);
310
            kanal = AD_NICK;
311
            break;
312
        case 15:
313
            nick1 += ADC;
1173 hbuss 314
            if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4;
315
            AdWertNick = nick1 / 8;
316
            nick_filter = (nick_filter + nick1) / 2;
317
            HiResNick = nick_filter - AdNeutralNick;
1171 hbuss 318
            AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
319
            kanal = AD_ROLL;
320
            break;
321
        case 16:
322
            roll1 += ADC;
1173 hbuss 323
            if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4;
324
            AdWertRoll = roll1 / 8;
325
            roll_filter = (roll_filter + roll1) / 2;
326
            HiResRoll = roll_filter - AdNeutralRoll;
1171 hbuss 327
            AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
328
                kanal = AD_DRUCK;
329
            break;
330
        case 17:
2309 holgerb 331
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
332
                        if(ACC_AltitudeControl)                
333
                        {
2316 holgerb 334
                         HoehenWertF = (ACC_AltitudeFusion(0) + SA_FILTER/2)/SA_FILTER; // cm
2309 holgerb 335
            }
336
                        else HoehenWertF = HoehenWert;
337
#else 
338
                        HoehenWertF = HoehenWert;
339
#endif
340
 
1171 hbuss 341
            state = 0;
342
                        AdReady = 1;
343
            ZaehlMessungen++;
344
            // "break" fehlt hier absichtlich
345
        case 9:
1253 killagreg 346
                MessLuftdruck = ADC;
2309 holgerb 347
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
348
                        if(ACC_AltitudeControl)                
349
                        {
350
                                tmpLuftdruck = MessLuftdruck - 523 * (long)ExpandBaro;  // -523 counts per offset step
351
                                Luftdruck -= Luftdruck/16;
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;
2009 holgerb 362
                                Luftdruck = (7 * Luftdruck + tmpLuftdruck - (16 * 523) * (long)ExpandBaro + 4) / 8;  // -523.19 counts per 10 counts offset step
1253 killagreg 363
                                HoehenWert = StartLuftdruck - Luftdruck;
1272 hbuss 364
                                SummenHoehe -= SummenHoehe/SM_FILTER;
1253 killagreg 365
                                SummenHoehe += HoehenWert;
1944 holgerb 366
                                tmp = (HoehenWert - SummenHoehe/SM_FILTER);
1982 holgerb 367
                                if(tmp > 1024) tmp = 1024;      else if(tmp < -1024) tmp = -1024;
368
                if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16;
1944 holgerb 369
                                else VarioMeter = (31 * VarioMeter + 8 * tmp)/32;
1272 hbuss 370
                tmpLuftdruck /= 2;
2009 holgerb 371
                messanzahl_Druck = 16/2;
2309 holgerb 372
                                }
373
                        }
1171 hbuss 374
            kanal = AD_NICK;
375
            break;
1246 killagreg 376
        default:
1171 hbuss 377
            kanal = 0; state = 0; kanal = AD_NICK;
378
            break;
1246 killagreg 379
        }
1171 hbuss 380
    ADMUX = kanal;
381
    if(state != 0) ANALOG_ON;
382
}
383