WebSVN - FlightCtrl - Diff - Rev 750 and 761 - /branches/V0.68d CRK HexaLotte/analog.c


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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>
 
#include "analog.h"
#include "main.h"
#include "timer0.h"
#include "fc.h"
#include "printf_P.h"
#include "eeprom.h"
 
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 int32_t AirPressure = 32000;
volatile int16_t StartAirPressure;
volatile uint16_t ReadingAirPressure = 1023;
uint8_t PressureSensorOffset;
volatile int16_t HeightD = 0;
volatile uint16_t MeasurementCounter = 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 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);
}
 
 
/*****************************************************/
/*     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
    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 = PITCH GYRO
            break;
        case 2:
            pitch1 = ADC; // get Gyro Pitch 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:
            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
            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 = 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
            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(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4;
            if(AdValueAccTop > 1)
             {
                if(NeutralAccZ < 800) NeutralAccZ+= 0.02;
             }
             else if(AdValueAccTop < -1)
             {
                if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
             }
            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 = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight);  // D-Anteil = neuerWert - AlterWert
                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();
}
 

Rev 750	Rev 761
1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	1	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2	// + Copyright (c) 04.2007 Holger Buss	2	// + Copyright (c) 04.2007 Holger Buss
3	// + only for non-profit use	3	// + only for non-profit use
4	// + www.MikroKopter.com	4	// + www.MikroKopter.com
5	// + see the File "License.txt" for further Informations	5	// + see the File "License.txt" for further Informations
6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++	6	// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
7	#include <stdlib.h>	7	#include <stdlib.h>
8	#include <avr/io.h>	8	#include <avr/io.h>
9	#include <avr/interrupt.h>	9	#include <avr/interrupt.h>
10		10
11	#include "analog.h"	11	#include "analog.h"
12	#include "main.h"	12	#include "main.h"
13	#include "timer0.h"	13	#include "timer0.h"
14	#include "fc.h"	14	#include "fc.h"
15	#include "printf_P.h"	15	#include "printf_P.h"
16	#include "eeprom.h"	16	#include "eeprom.h"
17		17
18	volatile int16_t Current_AccZ = 0;	18	volatile int16_t Current_AccZ = 0;
19	volatile int16_t UBat = 100;	19	volatile int16_t UBat = 100;
20	volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;	20	volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
21	volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;	21	volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;
22	volatile int32_t AirPressure = 32000;	22	volatile int32_t AirPressure = 32000;
23	volatile int16_t StartAirPressure;	23	volatile int16_t StartAirPressure;
24	volatile uint16_t ReadingAirPressure = 1023;	24	volatile uint16_t ReadingAirPressure = 1023;
25	uint8_t PressureSensorOffset;	25	uint8_t PressureSensorOffset;
26	volatile int16_t HightD = 0;	26	volatile int16_t HeightD = 0;
27	volatile uint16_t MeasurementCounter = 0;	27	volatile uint16_t MeasurementCounter = 0;
28		28
29	/*****************************************************/	29	/*****************************************************/
30	/* Initialize Analog Digital Converter */	30	/* Initialize Analog Digital Converter */
31	/*****************************************************/	31	/*****************************************************/
32	void ADC_Init(void)	32	void ADC_Init(void)
33	{	33	{
34	uint8_t sreg = SREG;	34	uint8_t sreg = SREG;
35	// disable all interrupts before reconfiguration	35	// disable all interrupts before reconfiguration
36	cli();	36	cli();
37	//ADC0 ... ADC7 is connected to PortA pin 0 ... 7	37	//ADC0 ... ADC7 is connected to PortA pin 0 ... 7
38	DDRA = 0x00;	38	DDRA = 0x00;
39	PORTA = 0x00;	39	PORTA = 0x00;
40	// Digital Input Disable Register 0	40	// Digital Input Disable Register 0
41	// Disable digital input buffer for analog adc_channel pins	41	// Disable digital input buffer for analog adc_channel pins
42	DIDR0 = 0xFF;	42	DIDR0 = 0xFF;
43	// external reference, adjust data to the right	43	// external reference, adjust data to the right
44	ADMUX &= ~((1 << REFS1)\|(1 << REFS0)\|(1 << ADLAR));	44	ADMUX &= ~((1 << REFS1)\|(1 << REFS0)\|(1 << ADLAR));
45	// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)	45	// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
46	ADMUX = (ADMUX & 0xE0) \| 0x00;	46	ADMUX = (ADMUX & 0xE0) \| 0x00;
47	//Set ADC Control and Status Register A	47	//Set ADC Control and Status Register A
48	//Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz	48	//Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
49	ADCSRA = (1<<ADATE)\|(1<<ADPS2)\|(1<<ADPS1)\|(1<<ADPS0);	49	ADCSRA = (1<<ADATE)\|(1<<ADPS2)\|(1<<ADPS1)\|(1<<ADPS0);
50	//Set ADC Control and Status Register B	50	//Set ADC Control and Status Register B
51	//Trigger Source to Free Running Mode	51	//Trigger Source to Free Running Mode
52	ADCSRB &= ~((1 << ADTS2)\|(1 << ADTS1)\|(1 << ADTS0));	52	ADCSRB &= ~((1 << ADTS2)\|(1 << ADTS1)\|(1 << ADTS0));
53	// Enable AD conversion	53	// Enable AD conversion
54	ADC_Enable();	54	ADC_Enable();
55	// restore global interrupt flags	55	// restore global interrupt flags
56	SREG = sreg;	56	SREG = sreg;
57	}	57	}
58		58
59	void SearchAirPressureOffset(void)	59	void SearchAirPressureOffset(void)
60	{	60	{
61	uint8_t off;	61	uint8_t off;
62	off = GetParamByte(PID_PRESSURE_OFFSET);	62	off = GetParamByte(PID_PRESSURE_OFFSET);
63	if(off > 20) off -= 10;	63	if(off > 20) off -= 10;
64	OCR0A = off;	64	OCR0A = off;
65	Delay_ms_Mess(100);	65	Delay_ms_Mess(100);
66	if(ReadingAirPressure < 850) off = 0;	66	if(ReadingAirPressure < 850) off = 0;
67	for(; off < 250;off++)	67	for(; off < 250;off++)
68	{	68	{
69	OCR0A = off;	69	OCR0A = off;
70	Delay_ms_Mess(50);	70	Delay_ms_Mess(50);
71	printf(".");	71	printf(".");
72	if(ReadingAirPressure < 900) break;	72	if(ReadingAirPressure < 900) break;
73	}	73	}
74	SetParamByte(PID_PRESSURE_OFFSET, off);	74	SetParamByte(PID_PRESSURE_OFFSET, off);
75	PressureSensorOffset = off;	75	PressureSensorOffset = off;
76	Delay_ms_Mess(300);	76	Delay_ms_Mess(300);
77	}	77	}
78		78
79		79
80	/*****************************************************/	80	/*****************************************************/
81	/* Interrupt Service Routine for ADC */	81	/* Interrupt Service Routine for ADC */
82	/*****************************************************/	82	/*****************************************************/
83	// The routine changes the ADC input muxer running	83	// The routine changes the ADC input muxer running
84	// thru the state machine by the following order.	84	// thru the state machine by the following order.
85	// state 0: ch0 (yaw gyro)	85	// state 0: ch0 (yaw gyro)
86	// state 1: ch1 (roll gyro)	86	// state 1: ch1 (roll gyro)
87	// state 2: ch2 (pitch gyro)	87	// state 2: ch2 (pitch gyro)
88	// state 3: ch4 (battery voltage -> UBat)	88	// state 3: ch4 (battery voltage -> UBat)
89	// state 4: ch6 (acc y -> Current_AccY)	89	// state 4: ch6 (acc y -> Current_AccY)
90	// state 5: ch7 (acc x -> Current_AccX)	90	// state 5: ch7 (acc x -> Current_AccX)
91	// state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw)	91	// state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw)
92	// state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll)	92	// state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll)
93	// state 8: ch2 (pitch gyro average with first reading -> AdValueGyrPitch)	93	// state 8: ch2 (pitch gyro average with first reading -> AdValueGyrPitch)
94	// state 9: ch5 (acc z add also 4th part of acc x and acc y to reading)	94	// state 9: ch5 (acc z add also 4th part of acc x and acc y to reading)
95	// state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure)	95	// state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure)
96		96
97	ISR(ADC_vect)	97	ISR(ADC_vect)
98	{	98	{
99	static uint8_t adc_channel = 0, state = 0;	99	static uint8_t adc_channel = 0, state = 0;
100	static uint16_t yaw1, roll1, pitch1;	100	static uint16_t yaw1, roll1, pitch1;
101	static uint8_t average_pressure = 0;	101	static uint8_t average_pressure = 0;
102	static int16_t tmpAirPressure = 0;	102	static int16_t tmpAirPressure = 0;
103	// disable further AD conversion	103	// disable further AD conversion
104	ADC_Disable();	104	ADC_Disable();
105	// state machine	105	// state machine
106	switch(state++)	106	switch(state++)
107	{	107	{
108	case 0:	108	case 0:
109	yaw1 = ADC; // get Gyro Yaw Voltage 1st sample	109	yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
110	adc_channel = 1; // set next channel to ADC1 = ROLL GYRO	110	adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
111	MeasurementCounter++; // increment total measurement counter	111	MeasurementCounter++; // increment total measurement counter
112	break;	112	break;
113	case 1:	113	case 1:
114	roll1 = ADC; // get Gyro Roll Voltage 1st sample	114	roll1 = ADC; // get Gyro Roll Voltage 1st sample
115	adc_channel = 2; // set next channel to ADC2 = PITCH GYRO	115	adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
116	break;	116	break;
117	case 2:	117	case 2:
118	pitch1 = ADC; // get Gyro Pitch Voltage 1st sample	118	pitch1 = ADC; // get Gyro Pitch Voltage 1st sample
119	adc_channel = 4; // set next channel to ADC4 = UBAT	119	adc_channel = 4; // set next channel to ADC4 = UBAT
120	break;	120	break;
121	case 3:	121	case 3:
122	// get actual UBat (Volts10) is ADC30V/1024*10 = ADC/3	122	// get actual UBat (Volts10) is ADC30V/1024*10 = ADC/3
123	UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value	123	UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
124	adc_channel = 6; // set next channel to ADC6 = ACC_Y	124	adc_channel = 6; // set next channel to ADC6 = ACC_Y
125	break;	125	break;
126	case 4:	126	case 4:
127	AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction	127	AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction
128	adc_channel = 7; // set next channel to ADC7 = ACC_X	128	adc_channel = 7; // set next channel to ADC7 = ACC_X
129	break;	129	break;
130	case 5:	130	case 5:
131	AdValueAccPitch = ADC - NeutralAccX; // get acceleration in X direction	131	AdValueAccPitch = ADC - NeutralAccX; // get acceleration in X direction
132	adc_channel = 0; // set next channel to ADC7 = YAW GYRO	132	adc_channel = 0; // set next channel to ADC7 = YAW GYRO
133	break;	133	break;
134	case 6:	134	case 6:
135	// average over two samples to create current AdValueGyrYaw	135	// average over two samples to create current AdValueGyrYaw
136	if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2;	136	if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2;
137	else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1	137	else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1
138	adc_channel = 1; // set next channel to ADC7 = ROLL GYRO	138	adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
139	break;	139	break;
140	case 7:	140	case 7:
141	// average over two samples to create current ADValueGyrRoll	141	// average over two samples to create current ADValueGyrRoll
142	if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2;	142	if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2;
143	else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1	143	else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
144	adc_channel = 2; // set next channel to ADC2 = PITCH GYRO	144	adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
145	break;	145	break;
146	case 8:	146	case 8:
147	// average over two samples to create current ADValuePitch	147	// average over two samples to create current ADValuePitch
148	if(BoardRelease == 10) AdValueGyrPitch = (ADC + pitch1) / 2;	148	if(BoardRelease == 10) AdValueGyrPitch = (ADC + pitch1) / 2;
149	else AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1	149	else AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1
150	adc_channel = 5; // set next channel to ADC5 = ACC_Z	150	adc_channel = 5; // set next channel to ADC5 = ACC_Z
151	break;	151	break;
152	case 9:	152	case 9:
153	// get z acceleration	153	// get z acceleration
154	AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction	154	AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction
155	AdValueAccTop += abs(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4;	155	AdValueAccTop += abs(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4;
156	if(AdValueAccTop > 1)	156	if(AdValueAccTop > 1)
157	{	157	{
158	if(NeutralAccZ < 800) NeutralAccZ+= 0.02;	158	if(NeutralAccZ < 800) NeutralAccZ+= 0.02;
159	}	159	}
160	else if(AdValueAccTop < -1)	160	else if(AdValueAccTop < -1)
161	{	161	{
162	if(NeutralAccZ > 600) NeutralAccZ-= 0.02;	162	if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
163	}	163	}
164	Current_AccZ = ADC;	164	Current_AccZ = ADC;
165	Reading_Integral_Top += AdValueAccTop; // Integrieren	165	Reading_Integral_Top += AdValueAccTop; // Integrieren
166	Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen	166	Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
167	adc_channel = 3; // set next channel to ADC3 = air pressure	167	adc_channel = 3; // set next channel to ADC3 = air pressure
168	break;	168	break;
169	case 10:	169	case 10:
170	tmpAirPressure += ADC; // sum vadc values	170	tmpAirPressure += ADC; // sum vadc values
171	if(++average_pressure >= 5) // if 5 values are summerized for averaging	171	if(++average_pressure >= 5) // if 5 values are summerized for averaging
172	{	172	{
173	ReadingAirPressure = ADC; // update measured air pressure	173	ReadingAirPressure = ADC; // update measured air pressure
174	HightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHight); // D-Anteil = neuerWert - AlterWert	174	HeightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight); // D-Anteil = neuerWert - AlterWert
175	AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history	175	AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history
176	ReadingHight = StartAirPressure - AirPressure;	176	ReadingHeight = StartAirPressure - AirPressure;
177	average_pressure = 0; // reset air pressure measurement counter	177	average_pressure = 0; // reset air pressure measurement counter
178	tmpAirPressure = 0;	178	tmpAirPressure = 0;
179	}	179	}
180	adc_channel = 0; // set next channel to ADC0 = GIER GYRO	180	adc_channel = 0; // set next channel to ADC0 = GIER GYRO
181	state = 0; // reset state machine	181	state = 0; // reset state machine
182	break;	182	break;
183	default:	183	default:
184	adc_channel = 0;	184	adc_channel = 0;
185	state = 0;	185	state = 0;
186	break;	186	break;
187	}	187	}
188	// set adc muxer to next adc_channel	188	// set adc muxer to next adc_channel
189	ADMUX = (ADMUX & 0xE0) \| adc_channel;	189	ADMUX = (ADMUX & 0xE0) \| adc_channel;
190	// after full cycle stop further interrupts	190	// after full cycle stop further interrupts
191	if(state != 0) ADC_Enable();	191	if(state != 0) ADC_Enable();
192	}	192	}
193		193

Subversion Repositories FlightCtrl

(root)/branches/V0.68d CRK HexaLotte/analog.c @ 2159 - Rev 750 → 761