| 15,17 → 15,15 |
|---|
| #include "printf_P.h" |
| #include "eeprom.h" |
| |
| volatile int16_t Current_Pitch = 0, Current_Roll = 0, Current_Yaw = 0; |
| volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0; |
| 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 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 HightD = 0; |
| volatile int16_t tmpAirPressure; |
| volatile uint16_t MeasurementCounter = 0; |
| |
| /*****************************************************/ |
| 60,22 → 58,22 |
|---|
| |
| void SearchAirPressureOffset(void) |
| { |
| uint8_t off; |
| off = GetParamByte(PID_LAST_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_LAST_OFFSET, off); |
| PressureSensorOffset = off; |
| Delay_ms_Mess(300); |
| 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); |
| } |
| |
| |
| 82,11 → 80,26 |
|---|
| /*****************************************************/ |
| /* Interrupt Service Routine for ADC */ |
| /*****************************************************/ |
| // 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 |
| 111,44 → 124,42 |
|---|
| 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; |
| AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction |
| adc_channel = 7; // set next channel to ADC7 = ACC_X |
| break; |
| case 5: |
| Current_AccX = ADC - NeutralAccX; // get acceleration in X direction |
| AdValueAccPitch = Current_AccX; |
| 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 |
| 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 |
| 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 |
| 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(Current_AccY) / 4 + abs(Current_AccX) / 4; |
| AdValueAccTop += abs(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4; |
| if(AdValueAccTop > 1) |
| { |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| } |
| else if(AdValueAccTop < -1) |
| { |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| } |
| Current_AccZ = ADC; |
| Reading_Integral_Top += AdValueAccTop; // Integrieren |
| 158,16 → 169,16 |
|---|
| case 10: |
| tmpAirPressure += ADC; // sum vadc values |
| if(++average_pressure >= 5) // if 5 values are summerized for averaging |
| { |
| { |
| ReadingAirPressure = ADC; // update measured air pressure |
| average_pressure = 0; // reset air pressure measurement counter |
| HightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHight); // D-Anteil = neuerWert - AlterWert |
| AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
| ReadingHight = 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 |
| state = 0; // reset state machine |
| break; |
| default: |
| adc_channel = 0; |
| 176,6 → 187,6 |
|---|
| } |
| // set adc muxer to next adc_channel |
| ADMUX = (ADMUX & 0xE0) | adc_channel; |
| // ?? |
| // after full cycle stop further interrupts |
| if(state != 0) ADC_Enable(); |
| } |