WebSVN - FlightCtrl - Diff - Rev 903 and 916 - /branches/V0.69k 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 AdValueGyrNick = 0, AdValueGyrRoll = 0,  AdValueGyrYaw = 0;
volatile int16_t AdValueAccRoll = 0,  AdValueAccNick = 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             */
/*****************************************************/
// 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 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 = 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();
}
 

Rev 903	Rev 916
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 AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
21	volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;	21	volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 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 HeightD = 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	// runs at 156.25 kHz or 6.4 µs	83	// runs at 156.25 kHz or 6.4 µs
84	// if after (70.4µs) all 11 states are processed the interrupt is disabled	84	// if after (70.4µs) all 11 states are processed the interrupt is disabled
85	// and the update of further ads is stopped	85	// and the update of further ads is stopped
86	// The routine changes the ADC input muxer running	86	// The routine changes the ADC input muxer running
87	// thru the state machine by the following order.	87	// thru the state machine by the following order.
88	// state 0: ch0 (yaw gyro)	88	// state 0: ch0 (yaw gyro)
89	// state 1: ch1 (roll gyro)	89	// state 1: ch1 (roll gyro)
90	// state 2: ch2 (pitch gyro)	90	// state 2: ch2 (nick gyro)
91	// state 3: ch4 (battery voltage -> UBat)	91	// state 3: ch4 (battery voltage -> UBat)
92	// state 4: ch6 (acc y -> Current_AccY)	92	// state 4: ch6 (acc y -> Current_AccY)
93	// state 5: ch7 (acc x -> Current_AccX)	93	// state 5: ch7 (acc x -> Current_AccX)
94	// state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw)	94	// state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw)
95	// state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll)	95	// state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll)
96	// state 8: ch2 (pitch gyro average with first reading -> AdValueGyrPitch)	96	// state 8: ch2 (nick gyro average with first reading -> AdValueGyrNick)
97	// state 9: ch5 (acc z add also 4th part of acc x and acc y to reading)	97	// state 9: ch5 (acc z add also 4th part of acc x and acc y to reading)
98	// state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure)	98	// state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure)
99		99
100	ISR(ADC_vect)	100	ISR(ADC_vect)
101	{	101	{
102	static uint8_t adc_channel = 0, state = 0;	102	static uint8_t adc_channel = 0, state = 0;
103	static uint16_t yaw1, roll1, pitch1;	103	static uint16_t yaw1, roll1, nick1;
104	static uint8_t average_pressure = 0;	104	static uint8_t average_pressure = 0;
105	static int16_t tmpAirPressure = 0;	105	static int16_t tmpAirPressure = 0;
106	// disable further AD conversion	106	// disable further AD conversion
107	ADC_Disable();	107	ADC_Disable();
108	// state machine	108	// state machine
109	switch(state++)	109	switch(state++)
110	{	110	{
111	case 0:	111	case 0:
112	yaw1 = ADC; // get Gyro Yaw Voltage 1st sample	112	yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
113	adc_channel = 1; // set next channel to ADC1 = ROLL GYRO	113	adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
114	MeasurementCounter++; // increment total measurement counter	114	MeasurementCounter++; // increment total measurement counter
115	break;	115	break;
116	case 1:	116	case 1:
117	roll1 = ADC; // get Gyro Roll Voltage 1st sample	117	roll1 = ADC; // get Gyro Roll Voltage 1st sample
118	adc_channel = 2; // set next channel to ADC2 = PITCH GYRO	118	adc_channel = 2; // set next channel to ADC2 = NICK GYRO
119	break;	119	break;
120	case 2:	120	case 2:
121	pitch1 = ADC; // get Gyro Pitch Voltage 1st sample	121	nick1 = ADC; // get Gyro Nick Voltage 1st sample
122	adc_channel = 4; // set next channel to ADC4 = UBAT	122	adc_channel = 4; // set next channel to ADC4 = UBAT
123	break;	123	break;
124	case 3:	124	case 3:
125	// get actual UBat (Volts10) is ADC30V/1024*10 = ADC/3	125	// get actual UBat (Volts10) is ADC30V/1024*10 = ADC/3
126	UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value	126	UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
127	adc_channel = 6; // set next channel to ADC6 = ACC_Y	127	adc_channel = 6; // set next channel to ADC6 = ACC_Y
128	break;	128	break;
129	case 4:	129	case 4:
130	AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction	130	AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction
131	adc_channel = 7; // set next channel to ADC7 = ACC_X	131	adc_channel = 7; // set next channel to ADC7 = ACC_X
132	break;	132	break;
133	case 5:	133	case 5:
134	AdValueAccPitch = ADC - NeutralAccX; // get acceleration in X direction	134	AdValueAccNick = ADC - NeutralAccX; // get acceleration in X direction
135	adc_channel = 0; // set next channel to ADC7 = YAW GYRO	135	adc_channel = 0; // set next channel to ADC7 = YAW GYRO
136	break;	136	break;
137	case 6:	137	case 6:
138	// average over two samples to create current AdValueGyrYaw	138	// average over two samples to create current AdValueGyrYaw
139	if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2;	139	if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2;
140	else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1	140	else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1
141	adc_channel = 1; // set next channel to ADC7 = ROLL GYRO	141	adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
142	break;	142	break;
143	case 7:	143	case 7:
144	// average over two samples to create current ADValueGyrRoll	144	// average over two samples to create current ADValueGyrRoll
145	if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2;	145	if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2;
146	else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1	146	else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
147	adc_channel = 2; // set next channel to ADC2 = PITCH GYRO	147	adc_channel = 2; // set next channel to ADC2 = NICK GYRO
148	break;	148	break;
149	case 8:	149	case 8:
150	// average over two samples to create current ADValuePitch	150	// average over two samples to create current ADValueNick
151	if(BoardRelease == 10) AdValueGyrPitch = (ADC + pitch1) / 2;	151	if(BoardRelease == 10) AdValueGyrNick = (ADC + nick1) / 2;
152	else AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1	152	else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1
153	adc_channel = 5; // set next channel to ADC5 = ACC_Z	153	adc_channel = 5; // set next channel to ADC5 = ACC_Z
154	break;	154	break;
155	case 9:	155	case 9:
156	// get z acceleration	156	// get z acceleration
157	AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction	157	AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction
158	AdValueAccTop += abs(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4;	158	AdValueAccTop += abs(AdValueAccNick) / 4 + abs(AdValueAccRoll) / 4;
159	if(AdValueAccTop > 1)	159	if(AdValueAccTop > 1)
160	{	160	{
161	if(NeutralAccZ < 750)	161	if(NeutralAccZ < 750)
162	{	162	{
163	NeutralAccZ += 0.02;	163	NeutralAccZ += 0.02;
164	if(Model_Is_Flying < 500) NeutralAccZ += 0.1;	164	if(Model_Is_Flying < 500) NeutralAccZ += 0.1;
165	}	165	}
166	}	166	}
167	else if(AdValueAccTop < -1)	167	else if(AdValueAccTop < -1)
168	{	168	{
169	if(NeutralAccZ > 550)	169	if(NeutralAccZ > 550)
170	{	170	{
171	NeutralAccZ-= 0.02;	171	NeutralAccZ-= 0.02;
172	if(Model_Is_Flying < 500) NeutralAccZ -= 0.1;	172	if(Model_Is_Flying < 500) NeutralAccZ -= 0.1;
173	}	173	}
174	}	174	}
175	Current_AccZ = ADC;	175	Current_AccZ = ADC;
176	Reading_Integral_Top += AdValueAccTop; // Integrieren	176	Reading_Integral_Top += AdValueAccTop; // Integrieren
177	Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen	177	Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
178	adc_channel = 3; // set next channel to ADC3 = air pressure	178	adc_channel = 3; // set next channel to ADC3 = air pressure
179	break;	179	break;
180	case 10:	180	case 10:
181	tmpAirPressure += ADC; // sum vadc values	181	tmpAirPressure += ADC; // sum vadc values
182	if(++average_pressure >= 5) // if 5 values are summerized for averaging	182	if(++average_pressure >= 5) // if 5 values are summerized for averaging
183	{	183	{
184	ReadingAirPressure = ADC; // update measured air pressure	184	ReadingAirPressure = ADC; // update measured air pressure
185	HeightD = (7 * HeightD + (int16_t)FCParam.Height_D * (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight))/8; // D-Part = CurrentValue - OldValue	185	HeightD = (7 * HeightD + (int16_t)FCParam.Height_D * (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight))/8; // D-Part = CurrentValue - OldValue
186	AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history	186	AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history
187	ReadingHeight = StartAirPressure - AirPressure;	187	ReadingHeight = StartAirPressure - AirPressure;
188	average_pressure = 0; // reset air pressure measurement counter	188	average_pressure = 0; // reset air pressure measurement counter
189	tmpAirPressure = 0;	189	tmpAirPressure = 0;
190	}	190	}
191	adc_channel = 0; // set next channel to ADC0 = GIER GYRO	191	adc_channel = 0; // set next channel to ADC0 = GIER GYRO
192	state = 0; // reset state machine	192	state = 0; // reset state machine
193	break;	193	break;
194	default:	194	default:
195	adc_channel = 0;	195	adc_channel = 0;
196	state = 0;	196	state = 0;
197	break;	197	break;
198	}	198	}
199	// set adc muxer to next adc_channel	199	// set adc muxer to next adc_channel
200	ADMUX = (ADMUX & 0xE0) \| adc_channel;	200	ADMUX = (ADMUX & 0xE0) \| adc_channel;
201	// after full cycle stop further interrupts	201	// after full cycle stop further interrupts
202	if(state != 0) ADC_Enable();	202	if(state != 0) ADC_Enable();
203	}	203	}
204		204

Subversion Repositories FlightCtrl

(root)/branches/V0.69k CRK HexaLotte/analog.c @ 1188 - Rev 903 → 916