0,0 → 1,235 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + 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> |
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#include "analog.h" |
#include "main.h" |
#include "timer0.h" |
#include "fc.h" |
#include "printf_P.h" |
#include "eeprom.h" |
#include "twimaster.h" |
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volatile int16_t Current_AccZ = 0; |
volatile int16_t UBat = 100; |
volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0; |
uint8_t AnalogOffsetNick = 115, AnalogOffsetRoll = 115, AnalogOffsetYaw = 115; |
uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0; |
volatile int32_t AirPressure = 32000; |
volatile uint8_t average_pressure = 0; |
volatile int16_t StartAirPressure; |
volatile uint16_t ReadingAirPressure = 1023; |
uint8_t PressureSensorOffset; |
volatile int16_t HeightD = 0; |
volatile uint16_t MeasurementCounter = 0; |
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/*****************************************************/ |
/* 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); |
} |
|
|
void SearchGyroOffset(void) |
{ |
uint8_t i, ready = 0; |
|
GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
for(i = 140; i != 0; i--) |
{ |
if(ready == 3 && i > 10) i = 9; |
ready = 0; |
if(AdValueGyrNick < 1020) AnalogOffsetNick--; else if(AdValueGyrNick > 1030) AnalogOffsetNick++; else ready++; |
if(AdValueGyrRoll < 1020) AnalogOffsetRoll--; else if(AdValueGyrRoll > 1030) AnalogOffsetRoll++; else ready++; |
if(AdValueGyrYaw < 1020) AnalogOffsetYaw-- ; else if(AdValueGyrYaw > 1030) AnalogOffsetYaw++ ; else ready++; |
twi_state = TWI_STATE_GYRO_OFFSET_TX; // set twi_state in TWI ISR to start of Gyro Offset |
I2C_Start(); // initiate data transmission |
if(AnalogOffsetNick < 10) { GyroDefectNick = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefectNick = 1; AnalogOffsetNick = 245;}; |
if(AnalogOffsetRoll < 10) { GyroDefectRoll = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefectRoll = 1; AnalogOffsetRoll = 245;}; |
if(AnalogOffsetYaw < 10) { GyroDefectYaw = 1; AnalogOffsetYaw = 10;}; if(AnalogOffsetYaw > 245) { GyroDefectYaw = 1; AnalogOffsetYaw = 245;}; |
while(twi_state); // wait for end of data transmission |
average_pressure = 0; |
ADC_Enable(); |
while(average_pressure == 0); |
if(i < 10) Delay_ms_Mess(10); |
} |
Delay_ms_Mess(70); |
} |
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/*****************************************************/ |
/* 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 (nick 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 (nick gyro average with first reading -> AdValueGyrNick) |
// 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, nick1; |
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 = 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: |
AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction |
adc_channel = 7; // set next channel to ADC7 = ACC_X |
break; |
case 5: |
AdValueAccNick = 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 = NICK GYRO |
break; |
case 8: |
// average over two samples to create current ADValueNick |
if(BoardRelease == 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(AdValueAccNick) / 4 + abs(AdValueAccRoll) / 4; |
if(AdValueAccTop > 1) |
{ |
if(NeutralAccZ < 750) |
{ |
NeutralAccZ += 0.02; |
if(Model_Is_Flying < 500) NeutralAccZ += 0.1; |
} |
} |
else if(AdValueAccTop < -1) |
{ |
if(NeutralAccZ > 550) |
{ |
NeutralAccZ-= 0.02; |
if(Model_Is_Flying < 500) NeutralAccZ -= 0.1; |
} |
} |
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 = (7 * HeightD + (int16_t)FCParam.Height_D * (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight))/8; // D-Part = CurrentValue - OldValue |
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(); |
} |