| 1,9 → 1,53 |
|---|
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Copyright (c) 04.2007 Holger Buss |
| // + only for non-profit use |
| // + Nur für den privaten Gebrauch |
| // + www.MikroKopter.com |
| // + see the File "License.txt" for further Informations |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
| // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist. |
| // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
| // + bzgl. der Nutzungsbedingungen aufzunehmen. |
| // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen, |
| // + Verkauf von Luftbildaufnahmen, usw. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht, |
| // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
| // + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
| // + eindeutig als Ursprung verlinkt werden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
| // + Benutzung auf eigene Gefahr |
| // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
| // + mit unserer Zustimmung zulässig |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
| // + this list of conditions and the following disclaimer. |
| // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
| // + from this software without specific prior written permission. |
| // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
| // + for non-commercial use (directly or indirectly) |
| // + Commercial use (for excample: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
| // + with our written permission |
| // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
| // + clearly linked as origin |
| // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
| // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
| // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
| // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
| // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
| // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
| // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
| // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
| // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
| // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
| // + POSSIBILITY OF SUCH DAMAGE. |
| // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| #include <stdlib.h> |
| #include <avr/io.h> |
| #include <avr/interrupt.h> |
| 16,21 → 60,26 |
|---|
| #include "eeprom.h" |
| #include "twimaster.h" |
| |
| volatile int16_t Current_AccZ = 0; |
| volatile uint16_t Test = 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 int16_t AdValueGyroNick = 0, AdValueGyroRoll = 0, AdValueGyroYaw = 0; |
| volatile int16_t FilterHiResGyroNick = 0, FilterHiResGyroRoll = 0; |
| volatile int16_t HiResGyroNick = 2500, HiResGyroRoll = 2500; |
| volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0, AdValueAccZ = 0; |
| volatile int32_t AirPressure = 32000; |
| volatile uint8_t average_pressure = 0; |
| volatile int16_t StartAirPressure; |
| volatile uint16_t ReadingAirPressure = 1023; |
| int8_t ExpandBaro = 0; |
| uint8_t PressureSensorOffset; |
| volatile int16_t HeightD = 0; |
| volatile uint16_t MeasurementCounter = 0; |
| volatile uint8_t ADReady = 1; |
| |
| uint8_t DacOffsetGyroNick = 115, DacOffsetGyroRoll = 115, DacOffsetGyroYaw = 115; |
| uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
| int8_t ExpandBaro = 0; |
| uint8_t PressureSensorOffset; |
| |
| /*****************************************************/ |
| /* Initialize Analog Digital Converter */ |
| /*****************************************************/ |
| 51,11 → 100,11 |
|---|
| 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); |
| ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
| //Set ADC Control and Status Register B |
| //Trigger Source to Free Running Mode |
| ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
| // Enable AD conversion |
| // Start AD conversion |
| ADC_Enable(); |
| // restore global interrupt flags |
| SREG = sreg; |
| 83,30 → 132,33 |
|---|
| } |
| |
| |
| void SearchGyroOffset(void) |
| void SearchDacGyroOffset(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); |
| if(BoardRelease == 13) // the auto offset calibration is available only at board release 1.3 |
| { |
| for(i = 140; i != 0; i--) |
| { |
| if(ready == 3 && i > 10) i = 9; |
| ready = 0; |
| if(AdValueGyroNick < 1020) DacOffsetGyroNick--; else if(AdValueGyroNick > 1030) DacOffsetGyroNick++; else ready++; |
| if(AdValueGyroRoll < 1020) DacOffsetGyroRoll--; else if(AdValueGyroRoll > 1030) DacOffsetGyroRoll++; else ready++; |
| if(AdValueGyroYaw < 1020) DacOffsetGyroYaw-- ; else if(AdValueGyroYaw > 1030) DacOffsetGyroYaw++ ; 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(DacOffsetGyroNick < 10) { GyroDefectNick = 1; DacOffsetGyroNick = 10;}; if(DacOffsetGyroNick > 245) { GyroDefectNick = 1; DacOffsetGyroNick = 245;}; |
| if(DacOffsetGyroRoll < 10) { GyroDefectRoll = 1; DacOffsetGyroRoll = 10;}; if(DacOffsetGyroRoll > 245) { GyroDefectRoll = 1; DacOffsetGyroRoll = 245;}; |
| if(DacOffsetGyroYaw < 10) { GyroDefectYaw = 1; DacOffsetGyroYaw = 10;}; if(DacOffsetGyroYaw > 245) { GyroDefectYaw = 1; DacOffsetGyroYaw = 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); |
| } |
| Delay_ms_Mess(70); |
| } |
| |
| |
| 115,124 → 167,180 |
|---|
| /*****************************************************/ |
| /* 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 |
| // runs at 312.5 kHz or 3.2 µs |
| // if after (60.8µs) all 19 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) |
| |
| /* |
| 0 nickgyro |
| 1 rollgyro |
| 2 yawgyro |
| 3 accroll |
| 4 accnick |
| 5 nickgyro |
| 6 rollgyro |
| 7 ubat |
| 8 acctop |
| 9 air pressure |
| 10 nickgyro |
| 11 rollgyro |
| 12 yawgyro |
| 13 accroll |
| 14 accnick |
| 15 gyronick |
| 16 gyroroll |
| 17 airpressure |
| */ |
| |
| |
| #define AD_GYRO_YAW 0 |
| #define AD_GYRO_ROLL 1 |
| #define AD_GYRO_NICK 2 |
| #define AD_AIRPRESS 3 |
| #define AD_UBAT 4 |
| #define AD_ACC_TOP 5 |
| #define AD_ACC_ROLL 6 |
| #define AD_ACC_NICK 7 |
| |
| ISR(ADC_vect) |
| { |
| static uint8_t adc_channel = 0, state = 0; |
| static uint16_t yaw1, roll1, nick1; |
| static uint8_t ad_channel = AD_GYRO_NICK, state = 0; |
| static uint16_t gyroyaw, gyroroll, gyronick, accroll, accnick; |
| static int32_t filtergyronick, filtergyroroll; |
| 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 |
| switch(state++) |
| { |
| case 0: |
| gyronick = ADC; // get nick gyro voltage 1st sample |
| ad_channel = AD_GYRO_ROLL; |
| break; |
| case 1: |
| gyroroll = ADC; // get roll gyro voltage 1st sample |
| ad_channel = AD_GYRO_YAW; |
| break; |
| case 2: |
| gyroyaw = ADC; // get yaw gyro voltage 1st sample |
| ad_channel = AD_ACC_ROLL; |
| break; |
| case 3: |
| accroll = ADC; // get roll acc voltage 1st sample |
| ad_channel = AD_ACC_NICK; |
| break; |
| case 1: |
| roll1 = ADC; // get Gyro Roll Voltage 1st sample |
| adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
| case 4: |
| accnick = ADC; // get nick acc voltage 1st sample |
| ad_channel = AD_GYRO_NICK; |
| break; |
| case 5: |
| gyronick += ADC; // get nick gyro voltage 2nd sample |
| ad_channel = AD_GYRO_ROLL; |
| break; |
| case 6: |
| gyroroll += ADC; // get roll gyro voltage 2nd sample |
| ad_channel = AD_UBAT; |
| break; |
| case 7: |
| // 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 |
| ad_channel = AD_ACC_TOP; |
| 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 if (BoardRelease == 20) AdValueGyrYaw = 1023 - (ADC + yaw1); |
| 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; |
| case 8: |
| AdValueAccZ = ADC; // get plain acceleration in Z direction |
| AdValueAccTop = (int16_t)ADC - AdBiasAccTop; // get acceleration in Z direction |
| if(AdValueAccTop > 1) |
| { |
| if(AdBiasAccTop < 750) |
| { |
| AdBiasAccTop += 0.02; |
| if(ModelIsFlying < 500) AdBiasAccTop += 0.1; |
| } |
| } |
| else if(AdValueAccTop < -1) |
| { |
| if(NeutralAccZ > 550) |
| { |
| NeutralAccZ-= 0.02; |
| if(Model_Is_Flying < 500) NeutralAccZ -= 0.1; |
| } |
| else if(AdValueAccTop < -1) |
| { |
| if(AdBiasAccTop > 550) |
| { |
| AdBiasAccTop -= 0.02; |
| if(ModelIsFlying < 500) AdBiasAccTop -= 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 |
| } |
| ReadingIntegralTop += AdValueAccTop; // load |
| ReadingIntegralTop -= ReadingIntegralTop / 1024; // discharge |
| ad_channel = AD_AIRPRESS; |
| break; |
| // case 9 is moved to the end |
| case 10: |
| gyronick += ADC; // get nick gyro voltage 3rd sample |
| ad_channel = AD_GYRO_ROLL; |
| break; |
| case 11: |
| gyroroll += ADC; // get roll gyro voltage 3rd sample |
| ad_channel = AD_GYRO_YAW; |
| break; |
| case 12: |
| gyroyaw += ADC; // get yaw gyro voltage 2nd sample |
| if(BoardRelease == 10) AdValueGyroYaw = (gyroyaw + 1) / 2; // analog gain on board 1.0 is 2 times higher |
| else |
| if(BoardRelease == 20) AdValueGyroYaw = 2047 - gyroyaw; // 2 times higher than a single sample |
| else AdValueGyroYaw = gyroyaw; // 2 times higher than a single sample |
| ad_channel = AD_ACC_ROLL; |
| break; |
| case 13: |
| accroll += ADC; // get roll acc voltage 2nd sample |
| AdValueAccRoll = AdBiasAccRoll - accroll; // subtract bias |
| ad_channel = AD_ACC_NICK; |
| break; |
| case 14: |
| accnick += ADC; // get nick acc voltage 2nd sample |
| AdValueAccNick = accnick - AdBiasAccNick; // subtract bias |
| ad_channel = AD_GYRO_NICK; |
| 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)(255 * ExpandBaro + StartAirPressure - tmpAirPressure - ReadingHeight))/8; // D-Part = CurrentValue - OldValue |
| AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
| ReadingHeight = 255 * ExpandBaro + 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; |
| case 15: |
| gyronick += ADC; // get nick gyro voltage 4th sample |
| if(BoardRelease == 10) gyronick *= 2; // 8 times higer than a single sample, HW gain x2 |
| else gyronick *= 4; // 16 times higer than a single sample |
| AdValueGyroNick = gyronick / 8; // 2 times higher than a single sample |
| filtergyronick = (filtergyronick + gyronick) / 2; //(16 samples)/2 results in a factor of 8 higher than a single sample) see HIRES_GYRO_AMPLIFY |
| HiResGyroNick = filtergyronick - BiasHiResGyroNick; |
| FilterHiResGyroNick = (FilterHiResGyroNick + HiResGyroNick) / 2; |
| ad_channel = AD_GYRO_ROLL; |
| break; |
| case 16: |
| gyroroll += ADC; // get roll gyro voltage 4th sample |
| if(BoardRelease == 10) gyroroll *= 2; // 8 times higer than a single sample, HW gain x2 |
| else gyroroll *= 4; // 16 times higer than a single sample |
| AdValueGyroRoll = gyroroll / 8; // 2 times higher than a single sample |
| filtergyroroll = (filtergyroroll + gyroroll) / 2; //(16 samples)/2 results in a factor of 8 higher than a single sample) see HIRES_GYRO_AMPLIFY |
| HiResGyroRoll = filtergyroroll - BiasHiResGyroRoll; |
| FilterHiResGyroRoll = (FilterHiResGyroRoll + HiResGyroRoll) / 2; |
| ad_channel = AD_AIRPRESS; |
| break; |
| case 17: |
| state = 0; // restart sequence from beginning |
| ADReady = 1; // mark |
| MeasurementCounter++; // increment total measurement counter |
| // "break;" is missing to enable fall thru case 9 at the end of the sequence |
| case 9: |
| tmpAirPressure += ADC; // sum adc values |
| if(++average_pressure >= 5) // if 5 values are summerized for averaging |
| { |
| tmpAirPressure /= 2; |
| ReadingAirPressure = ADC; // update meassured air pressure |
| HeightD = (31 * HeightD + (int16_t)FCParam.HeightD * (int16_t)(255 * ExpandBaro + StartAirPressure - tmpAirPressure - ReadingHeight)) / 32; // D-Part = CurrentValue - OldValue |
| AirPressure = (tmpAirPressure + 7 * AirPressure + 4) / 8; // averaging using history |
| ReadingHeight = 255 * ExpandBaro + StartAirPressure - AirPressure; |
| average_pressure = 0; // reset air pressure measurement counter |
| tmpAirPressure /= 2; |
| } |
| ad_channel = AD_GYRO_NICK; |
| break; |
| default: |
| ad_channel = AD_GYRO_NICK; |
| state = 0; |
| break; |
| } |
| // set adc muxer to next ad_channel |
| ADMUX = (ADMUX & 0xE0) | ad_channel; |
| // after full cycle stop further interrupts |
| if(state != 0) ADC_Enable(); |
| } |