| 0,0 → 1,175 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| |
| #include "main.h" |
| |
| volatile int16_t Current_Nick = 0, Current_Roll = 0, Current_Gier = 0; |
| volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0; |
| volatile int16_t UBat = 100; |
| volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrGier = 0; |
| volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0; |
| volatile uint8_t messanzahl_AccHoch = 0; |
| volatile int32_t Luftdruck = 32000; |
| volatile int16_t StartLuftdruck; |
| volatile uint16_t MessLuftdruck = 1023; |
| uint8_t DruckOffsetSetting; |
| volatile int16_t HoeheD = 0; |
| volatile int16_t tmpLuftdruck; |
| volatile uint16_t ZaehlMessungen = 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 SucheLuftruckOffset(void) |
| { |
| unsigned int off; |
| off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| if(off > 20) off -= 10; |
| OCR0A = off; |
| Delay_ms_Mess(100); |
| if(MessLuftdruck < 850) off = 0; |
| for(; off < 250;off++) |
| { |
| OCR0A = off; |
| Delay_ms_Mess(50); |
| printf("."); |
| if(MessLuftdruck < 900) break; |
| } |
| eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| DruckOffsetSetting = off; |
| Delay_ms_Mess(300); |
| } |
| |
| |
| /*****************************************************/ |
| /* Interrupt Service Routine for ADC */ |
| /*****************************************************/ |
| ISR(ADC_vect) |
| { |
| static uint8_t adc_channel = 0, state = 0; |
| static uint16_t gier1, roll1, nick1; |
| static uint8_t messanzahl_Druck = 0; |
| // disable further AD conversion |
| ADC_Disable(); |
| // state machine |
| switch(state++) |
| { |
| case 0: |
| gier1 = ADC; // get Gyro Gier Voltage 1st sample |
| adc_channel = 1; // set next channel to ADC1 = ROLL GYRO |
| ZaehlMessungen++; // increment total measurement counter |
| break; |
| case 1: |
| roll1 = ADC; // get Gyro Roll Voltage 1st sample |
| adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
| break; |
| case 2: |
| nick1 = ADC; // get Gyro Nick 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: |
| Current_AccY = NeutralAccY - ADC; // get acceleration in Y direction |
| AdValueAccRoll = Current_AccY; |
| adc_channel = 7; // set next channel to ADC7 = ACC_X |
| break; |
| case 5: |
| Current_AccX = ADC - NeutralAccX; // get acceleration in X direction |
| AdValueAccNick = Current_AccX; |
| adc_channel = 0; // set next channel to ADC7 = GIER GYRO |
| break; |
| case 6: |
| // average over two samples to create current ADValueGier |
| if(PlatinenVersion == 10) AdValueGyrGier = (ADC + gier1) / 2; |
| else AdValueGyrGier = ADC + gier1; // 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 ADValueRoll |
| if(PlatinenVersion == 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 = NICK GYRO |
| break; |
| case 8: |
| // average over two samples to create current ADValueNick |
| if(PlatinenVersion == 10) AdValueGyrNick = (ADC + nick1) / 2; |
| else AdValueGyrNick = ADC + nick1; // 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(Current_AccY) / 4 + abs(Current_AccX) / 4; |
| if(AdValueAccTop > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(AdValueAccTop < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| messanzahl_AccHoch = 1; |
| Current_AccZ = ADC; |
| Mess_Integral_Hoch += AdValueAccTop; // Integrieren |
| Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| adc_channel = 3; // set next channel to ADC3 = air pressure |
| break; |
| case 10: |
| tmpLuftdruck += ADC; // sum vadc values |
| if(++messanzahl_Druck >= 5) // if 5 values are summerized for averaging |
| { |
| MessLuftdruck = ADC; // update measured air pressure |
| messanzahl_Druck = 0; // reset air pressure measurement counter |
| HoeheD = (int16_t)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; // averaging using history |
| HoehenWert = StartLuftdruck - Luftdruck; |
| tmpLuftdruck = 0; |
| } |
| adc_channel = 0; // set next channel to ADC0 = GIER GYRO |
| state = 0; // reset state |
| break; |
| default: |
| adc_channel = 0; |
| state = 0; |
| break; |
| } |
| // set adc muxer to next adc_channel |
| ADMUX = (ADMUX & 0xE0) | adc_channel; |
| // ?? |
| if(state != 0) ADC_Enable(); |
| } |