| 0,0 → 1,195 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| |
| #include "analog.h" |
| #include "main.h" |
| #include "timer0.h" |
| #include "fc.h" |
| #include "printf_P.h" |
| #include "eeprom.h" |
| |
| volatile int16_t Current_AccZ = 0; |
| volatile int16_t UBat = 100; |
| volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0; |
| volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0; |
| volatile int32_t AirPressure = 32000; |
| volatile int16_t StartAirPressure; |
| volatile uint16_t ReadingAirPressure = 1023; |
| uint8_t PressureSensorOffset; |
| volatile int16_t HeightD = 0; |
| volatile uint16_t MeasurementCounter = 0; |
| |
| /*****************************************************/ |
| /* Initialize Analog Digital Converter */ |
| /*****************************************************/ |
| void ADC_Init(void) |
| { |
| uint8_t sreg = SREG; |
| // disable all interrupts before reconfiguration |
| cli(); |
| //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
| DDRA = 0x00; |
| PORTA = 0x00; |
| // Digital Input Disable Register 0 |
| // Disable digital input buffer for analog adc_channel pins |
| DIDR0 = 0xFF; |
| // external reference, adjust data to the right |
| ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
| // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| ADMUX = (ADMUX & 0xE0) | 0x00; |
| //Set ADC Control and Status Register A |
| //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
| ADCSRA = (1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
| //Set ADC Control and Status Register B |
| //Trigger Source to Free Running Mode |
| ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
| // Enable AD conversion |
| ADC_Enable(); |
| // restore global interrupt flags |
| SREG = sreg; |
| } |
| |
| void SearchAirPressureOffset(void) |
| { |
| uint8_t off; |
| off = GetParamByte(PID_PRESSURE_OFFSET); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| Delay_ms_Mess(100); |
| if(ReadingAirPressure < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(ReadingAirPressure < 900) break; |
| } |
| SetParamByte(PID_PRESSURE_OFFSET, off); |
| PressureSensorOffset = off; |
| Delay_ms_Mess(300); |
| } |
| |
| |
| /*****************************************************/ |
| /* Interrupt Service Routine for ADC */ |
| /*****************************************************/ |
| // runs at 156.25 kHz or 6.4 µs |
| // if after (70.4µs) all 11 states are processed the interrupt is disabled |
| // and the update of further ads is stopped |
| // The routine changes the ADC input muxer running |
| // thru the state machine by the following order. |
| // state 0: ch0 (yaw gyro) |
| // state 1: ch1 (roll gyro) |
| // state 2: ch2 (pitch gyro) |
| // state 3: ch4 (battery voltage -> UBat) |
| // state 4: ch6 (acc y -> Current_AccY) |
| // state 5: ch7 (acc x -> Current_AccX) |
| // state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw) |
| // state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll) |
| // state 8: ch2 (pitch gyro average with first reading -> AdValueGyrPitch) |
| // state 9: ch5 (acc z add also 4th part of acc x and acc y to reading) |
| // state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure) |
| |
| ISR(ADC_vect) |
| { |
| static uint8_t adc_channel = 0, state = 0; |
| static uint16_t yaw1, roll1, pitch1; |
| static uint8_t average_pressure = 0; |
| static int16_t tmpAirPressure = 0; |
| // disable further AD conversion |
| ADC_Disable(); |
| // state machine |
| switch(state++) |
| { |
| case 0: |
| yaw1 = ADC; // get Gyro Yaw Voltage 1st sample |
| adc_channel = 1; // set next channel to ADC1 = ROLL GYRO |
| MeasurementCounter++; // increment total measurement counter |
| break; |
| case 1: |
| roll1 = ADC; // get Gyro Roll Voltage 1st sample |
| adc_channel = 2; // set next channel to ADC2 = PITCH GYRO |
| break; |
| case 2: |
| pitch1 = ADC; // get Gyro Pitch Voltage 1st sample |
| adc_channel = 4; // set next channel to ADC4 = UBAT |
| break; |
| case 3: |
| // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3 |
| UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value |
| adc_channel = 6; // set next channel to ADC6 = ACC_Y |
| break; |
| case 4: |
| AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction |
| adc_channel = 7; // set next channel to ADC7 = ACC_X |
| break; |
| case 5: |
| AdValueAccPitch = ADC - NeutralAccX; // get acceleration in X direction |
| adc_channel = 0; // set next channel to ADC7 = YAW GYRO |
| break; |
| case 6: |
| // average over two samples to create current AdValueGyrYaw |
| if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2; |
| else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1 |
| adc_channel = 1; // set next channel to ADC7 = ROLL GYRO |
| break; |
| case 7: |
| // average over two samples to create current ADValueGyrRoll |
| if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2; |
| else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1 |
| adc_channel = 2; // set next channel to ADC2 = PITCH GYRO |
| break; |
| case 8: |
| // average over two samples to create current ADValuePitch |
| if(BoardRelease == 10) AdValueGyrPitch = (ADC + pitch1) / 2; |
| else AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1 |
| adc_channel = 5; // set next channel to ADC5 = ACC_Z |
| break; |
| case 9: |
| // get z acceleration |
| AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction |
| AdValueAccTop += abs(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4; |
| if(AdValueAccTop > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(AdValueAccTop < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| Current_AccZ = ADC; |
| Reading_Integral_Top += AdValueAccTop; // Integrieren |
| Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen |
| adc_channel = 3; // set next channel to ADC3 = air pressure |
| break; |
| case 10: |
| tmpAirPressure += ADC; // sum vadc values |
| if(++average_pressure >= 5) // if 5 values are summerized for averaging |
| { |
| ReadingAirPressure = ADC; // update measured air pressure |
| HeightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight); // D-Anteil = neuerWert - AlterWert |
| AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
| ReadingHeight = StartAirPressure - AirPressure; |
| average_pressure = 0; // reset air pressure measurement counter |
| tmpAirPressure = 0; |
| } |
| adc_channel = 0; // set next channel to ADC0 = GIER GYRO |
| state = 0; // reset state machine |
| break; |
| default: |
| adc_channel = 0; |
| state = 0; |
| break; |
| } |
| // set adc muxer to next adc_channel |
| ADMUX = (ADMUX & 0xE0) | adc_channel; |
| // after full cycle stop further interrupts |
| if(state != 0) ADC_Enable(); |
| } |