0,0 → 1,293 |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
// + Copyright (c) Holger Buss, Ingo Busker |
// + only for non-profit use |
// + www.MikroKopter.com |
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
// + see the File "License.txt" for further Informations |
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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#include "main.h" |
#include "eeprom.h" |
volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
volatile int HiResNick = 2500, HiResRoll = 2500; |
volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
volatile char messanzahl_AccHoch = 0; |
volatile long Luftdruck = 32000; |
volatile long SummenHoehe = 0; |
volatile int StartLuftdruck; |
volatile unsigned int MessLuftdruck = 1023; |
unsigned char DruckOffsetSetting; |
signed char ExpandBaro = 0; |
volatile int VarioMeter = 0; |
volatile unsigned int ZaehlMessungen = 0; |
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
volatile unsigned char AdReady = 1; |
//float NeutralAccZ_float; // MartinR : wozu ? |
//####################################################################################### |
// |
void ADC_Init(void) |
//####################################################################################### |
{ |
ADMUX = 0;//Referenz ist extern |
ANALOG_ON; |
} |
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#define DESIRED_H_ADC 800 |
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void SucheLuftruckOffset(void) |
{ |
unsigned int off; |
ExpandBaro = 0; |
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#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
{ |
unsigned char off2; |
OCR0A = 150; |
off2 = GetParamByte(PID_PRESSURE_OFFSET); |
if(off2 < 230) off2 += 10; |
OCR0B = off2; |
Delay_ms_Mess(100); |
if(MessLuftdruck > DESIRED_H_ADC) off2 = 240; |
for(; off2 >= 5; off2 -= 5) |
{ |
OCR0B = off2; |
Delay_ms_Mess(50); |
printf("*"); |
if(MessLuftdruck > DESIRED_H_ADC) break; |
} |
SetParamByte(PID_PRESSURE_OFFSET, off2); |
if(off2 >= 15) off = 140; else off = 0; |
for(; off < 250;off++) |
{ |
OCR0A = off; |
Delay_ms_Mess(50); |
printf("."); |
if(MessLuftdruck < DESIRED_H_ADC) break; |
} |
DruckOffsetSetting = off; |
} |
#else |
off = GetParamByte(PID_PRESSURE_OFFSET); |
if(off > 20) off -= 10; |
OCR0A = off; |
Delay_ms_Mess(100); |
if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
for(; off < 250;off++) |
{ |
OCR0A = off; |
Delay_ms_Mess(50); |
printf("."); |
if(MessLuftdruck < DESIRED_H_ADC) break; |
} |
DruckOffsetSetting = off; |
SetParamByte(PID_PRESSURE_OFFSET, off); |
#endif |
if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= DEFEKT_PRESSURE; |
OCR0A = off; |
Delay_ms_Mess(300); |
} |
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void SucheGyroOffset(void) |
{ |
unsigned char i, ready = 0; |
int timeout; |
timeout = SetDelay(2000); |
for(i=140; i != 0; i--) |
{ |
if(ready == 3 && i > 10) i = 9; |
ready = 0; |
if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 245;}; |
if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;}; |
if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 245;}; |
while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
AdReady = 0; |
ANALOG_ON; |
while(!AdReady); |
if(i<10) Delay_ms_Mess(10); |
} |
Delay_ms_Mess(70); |
} |
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/* |
0 n |
1 r |
2 g |
3 y |
4 x |
5 n |
6 r |
7 u |
8 z |
9 L |
10 n |
11 r |
12 g |
13 y |
14 x |
15 n |
16 r |
17 L |
*/ |
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//####################################################################################### |
// |
ISR(ADC_vect) |
//####################################################################################### |
{ |
static unsigned char kanal=0,state = 0; |
//static signed char subcount = 0; // MartinR: wird nicht mehr benötigt, da deaktiviert |
static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
static signed int accy, accx; |
static long tmpLuftdruck = 0; |
static char messanzahl_Druck = 0; |
switch(state++) |
{ |
case 0: |
nick1 = ADC; |
kanal = AD_ROLL; |
break; |
case 1: |
roll1 = ADC; |
kanal = AD_GIER; |
break; |
case 2: |
gier1 = ADC; |
kanal = AD_ACC_Y; |
break; |
case 3: |
Aktuell_ay = NeutralAccY - ADC; |
accy = Aktuell_ay; |
kanal = AD_ACC_X; |
break; |
case 4: |
Aktuell_ax = ADC - NeutralAccX; |
accx = Aktuell_ax; |
kanal = AD_NICK; |
break; |
case 5: |
nick1 += ADC; |
kanal = AD_ROLL; |
break; |
case 6: |
roll1 += ADC; |
kanal = AD_UBAT; |
break; |
case 7: |
UBat = (3 * UBat + ADC / 3) / 4; |
kanal = AD_ACC_Z; |
break; |
case 8: |
AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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/* // MartinR: deaktivieren Anfang |
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if(AdWertAccHoch > 1) |
{ |
if(NeutralAccZ < 750) |
{ |
subcount += 5; |
if(modell_fliegt < 500) subcount += 10; |
} |
if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
} |
else if(AdWertAccHoch < -1) |
{ |
if(NeutralAccZ > 550) |
{ |
subcount -= 5; |
if(modell_fliegt < 500) subcount -= 10; |
if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
} |
} |
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*/ // MartinR: deaktivieren Ende |
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messanzahl_AccHoch = 1; |
Aktuell_az = ADC; |
Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
kanal = AD_DRUCK; |
break; |
// "case 9:" fehlt hier absichtlich |
case 10: |
nick1 += ADC; |
kanal = AD_ROLL; |
break; |
case 11: |
roll1 += ADC; |
kanal = AD_GIER; |
break; |
case 12: |
if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
else |
if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
else AdWertGier = (ADC + gier1); |
kanal = AD_ACC_Y; |
break; |
case 13: |
Aktuell_ay = NeutralAccY - ADC; |
AdWertAccRoll = (Aktuell_ay + accy); |
kanal = AD_ACC_X; |
break; |
case 14: |
Aktuell_ax = ADC - NeutralAccX; |
AdWertAccNick = (Aktuell_ax + accx); |
kanal = AD_NICK; |
break; |
case 15: |
nick1 += ADC; |
if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
AdWertNick = nick1 / 8; |
nick_filter = (nick_filter + nick1) / 2; |
//HiResNick = nick_filter - AdNeutralNick; // MartinR: so war es |
HiResNick = (nick_filter - AdNeutralNick + 4 ) / 8 ; // MartinR: + 4um Rundungsfehler zu verbessern |
// MartinR: /8 von fc.c nach hier verschoben um Code zu sparen |
AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
kanal = AD_ROLL; |
break; |
case 16: |
roll1 += ADC; |
if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
AdWertRoll = roll1 / 8; |
roll_filter = (roll_filter + roll1) / 2; |
HiResRoll = roll_filter - AdNeutralRoll; // MartinR: so war es |
HiResRoll = (roll_filter - AdNeutralRoll + 4 ) / 8; // MartinR: + 4um Rundungsfehler zu verbessern |
// MartinR: /8 von fc.c nach hier verschoben um Code zu sparen |
AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
kanal = AD_DRUCK; |
break; |
case 17: |
state = 0; |
AdReady = 1; |
ZaehlMessungen++; |
// "break" fehlt hier absichtlich |
case 9: |
MessLuftdruck = ADC; |
tmpLuftdruck += MessLuftdruck; |
if(++messanzahl_Druck >= 18) |
{ |
Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
HoehenWert = StartLuftdruck - Luftdruck; |
SummenHoehe -= SummenHoehe/SM_FILTER; |
SummenHoehe += HoehenWert; |
VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
tmpLuftdruck /= 2; |
messanzahl_Druck = 18/2; |
} |
kanal = AD_NICK; |
break; |
default: |
kanal = 0; state = 0; kanal = AD_NICK; |
break; |
} |
ADMUX = kanal; |
if(state != 0) ANALOG_ON; |
} |
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