WebSVN - FlightCtrl - Diff - Rev 935 and 936 - /branches/V0.70d Code Redesign killagreg/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"
#include "twimaster.h"
 
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;
 
/*****************************************************/
/*     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);
}
 
 
 
 
/*****************************************************/
/*     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();
}
 

Rev 935	Rev 936
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	#include "twimaster.h"
17		18
18	volatile int16_t Current_AccZ = 0;	19	volatile int16_t Current_AccZ = 0;
19	volatile int16_t UBat = 100;	20	volatile int16_t UBat = 100;
20	volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;	21	volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
-		22	uint8_t AnalogOffsetNick = 115, AnalogOffsetRoll = 115, AnalogOffsetYaw = 115;
-		23	uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
21	volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0;	24	volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0;
22	volatile int32_t AirPressure = 32000;	25	volatile int32_t AirPressure = 32000;
-		26	volatile uint8_t average_pressure = 0;
23	volatile int16_t StartAirPressure;	27	volatile int16_t StartAirPressure;
24	volatile uint16_t ReadingAirPressure = 1023;	28	volatile uint16_t ReadingAirPressure = 1023;
25	uint8_t PressureSensorOffset;	29	uint8_t PressureSensorOffset;
26	volatile int16_t HeightD = 0;	30	volatile int16_t HeightD = 0;
27	volatile uint16_t MeasurementCounter = 0;	31	volatile uint16_t MeasurementCounter = 0;
28		32
29	/*****************************************************/	33	/*****************************************************/
30	/* Initialize Analog Digital Converter */	34	/* Initialize Analog Digital Converter */
31	/*****************************************************/	35	/*****************************************************/
32	void ADC_Init(void)	36	void ADC_Init(void)
33	{	37	{
34	uint8_t sreg = SREG;	38	uint8_t sreg = SREG;
35	// disable all interrupts before reconfiguration	39	// disable all interrupts before reconfiguration
36	cli();	40	cli();
37	//ADC0 ... ADC7 is connected to PortA pin 0 ... 7	41	//ADC0 ... ADC7 is connected to PortA pin 0 ... 7
38	DDRA = 0x00;	42	DDRA = 0x00;
39	PORTA = 0x00;	43	PORTA = 0x00;
40	// Digital Input Disable Register 0	44	// Digital Input Disable Register 0
41	// Disable digital input buffer for analog adc_channel pins	45	// Disable digital input buffer for analog adc_channel pins
42	DIDR0 = 0xFF;	46	DIDR0 = 0xFF;
43	// external reference, adjust data to the right	47	// external reference, adjust data to the right
44	ADMUX &= ~((1 << REFS1)\|(1 << REFS0)\|(1 << ADLAR));	48	ADMUX &= ~((1 << REFS1)\|(1 << REFS0)\|(1 << ADLAR));
45	// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)	49	// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
46	ADMUX = (ADMUX & 0xE0) \| 0x00;	50	ADMUX = (ADMUX & 0xE0) \| 0x00;
47	//Set ADC Control and Status Register A	51	//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	52	//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);	53	ADCSRA = (1<<ADATE)\|(1<<ADPS2)\|(1<<ADPS1)\|(1<<ADPS0);
50	//Set ADC Control and Status Register B	54	//Set ADC Control and Status Register B
51	//Trigger Source to Free Running Mode	55	//Trigger Source to Free Running Mode
52	ADCSRB &= ~((1 << ADTS2)\|(1 << ADTS1)\|(1 << ADTS0));	56	ADCSRB &= ~((1 << ADTS2)\|(1 << ADTS1)\|(1 << ADTS0));
53	// Enable AD conversion	57	// Enable AD conversion
54	ADC_Enable();	58	ADC_Enable();
55	// restore global interrupt flags	59	// restore global interrupt flags
56	SREG = sreg;	60	SREG = sreg;
57	}	61	}
58		62
59	void SearchAirPressureOffset(void)	63	void SearchAirPressureOffset(void)
60	{	64	{
61	uint8_t off;	65	uint8_t off;
62	off = GetParamByte(PID_PRESSURE_OFFSET);	66	off = GetParamByte(PID_PRESSURE_OFFSET);
63	if(off > 20) off -= 10;	67	if(off > 20) off -= 10;
64	OCR0A = off;	68	OCR0A = off;
65	Delay_ms_Mess(100);	69	Delay_ms_Mess(100);
66	if(ReadingAirPressure < 850) off = 0;	70	if(ReadingAirPressure < 850) off = 0;
67	for(; off < 250;off++)	71	for(; off < 250;off++)
68	{	72	{
69	OCR0A = off;	73	OCR0A = off;
70	Delay_ms_Mess(50);	74	Delay_ms_Mess(50);
71	printf(".");	75	printf(".");
72	if(ReadingAirPressure < 900) break;	76	if(ReadingAirPressure < 900) break;
73	}	77	}
74	SetParamByte(PID_PRESSURE_OFFSET, off);	78	SetParamByte(PID_PRESSURE_OFFSET, off);
75	PressureSensorOffset = off;	79	PressureSensorOffset = off;
76	Delay_ms_Mess(300);	80	Delay_ms_Mess(300);
77	}	81	}
78		82
-		83
-		84	void SearchGyroOffset(void)
-		85	{
-		86	uint8_t i, ready = 0;
-		87
-		88	GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0;
-		89	for(i = 140; i != 0; i--)
-		90	{
-		91	if(ready == 3 && i > 10) i = 9;
-		92	ready = 0;
-		93	if(AdValueGyrNick < 1020) AnalogOffsetNick--; else if(AdValueGyrNick > 1030) AnalogOffsetNick++; else ready++;
-		94	if(AdValueGyrRoll < 1020) AnalogOffsetRoll--; else if(AdValueGyrRoll > 1030) AnalogOffsetRoll++; else ready++;
-		95	if(AdValueGyrYaw < 1020) AnalogOffsetYaw-- ; else if(AdValueGyrYaw > 1030) AnalogOffsetYaw++ ; else ready++;
-		96	twi_state = TWI_STATE_GYRO_OFFSET_TX; // set twi_state in TWI ISR to start of Gyro Offset
-		97	I2C_Start(); // initiate data transmission
-		98	if(AnalogOffsetNick < 10) { GyroDefectNick = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefectNick = 1; AnalogOffsetNick = 245;};
-		99	if(AnalogOffsetRoll < 10) { GyroDefectRoll = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefectRoll = 1; AnalogOffsetRoll = 245;};
-		100	if(AnalogOffsetYaw < 10) { GyroDefectYaw = 1; AnalogOffsetYaw = 10;}; if(AnalogOffsetYaw > 245) { GyroDefectYaw = 1; AnalogOffsetYaw = 245;};
-		101	while(twi_state); // wait for end of data transmission
-		102	average_pressure = 0;
-		103	ADC_Enable();
-		104	while(average_pressure == 0);
-		105	if(i < 10) Delay_ms_Mess(10);
-		106	}
-		107	Delay_ms_Mess(70);
-		108	}
-		109
-		110
-		111
79		112
80	/*****************************************************/	113	/*****************************************************/
81	/* Interrupt Service Routine for ADC */	114	/* Interrupt Service Routine for ADC */
82	/*****************************************************/	115	/*****************************************************/
83	// runs at 156.25 kHz or 6.4 µs	116	// runs at 156.25 kHz or 6.4 µs
84	// if after (70.4µs) all 11 states are processed the interrupt is disabled	117	// if after (70.4µs) all 11 states are processed the interrupt is disabled
85	// and the update of further ads is stopped	118	// and the update of further ads is stopped
86	// The routine changes the ADC input muxer running	119	// The routine changes the ADC input muxer running
87	// thru the state machine by the following order.	120	// thru the state machine by the following order.
88	// state 0: ch0 (yaw gyro)	121	// state 0: ch0 (yaw gyro)
89	// state 1: ch1 (roll gyro)	122	// state 1: ch1 (roll gyro)
90	// state 2: ch2 (nick gyro)	123	// state 2: ch2 (nick gyro)
91	// state 3: ch4 (battery voltage -> UBat)	124	// state 3: ch4 (battery voltage -> UBat)
92	// state 4: ch6 (acc y -> Current_AccY)	125	// state 4: ch6 (acc y -> Current_AccY)
93	// state 5: ch7 (acc x -> Current_AccX)	126	// state 5: ch7 (acc x -> Current_AccX)
94	// state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw)	127	// state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw)
95	// state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll)	128	// state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll)
96	// state 8: ch2 (nick gyro average with first reading -> AdValueGyrNick)	129	// 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)	130	// 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)	131	// state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure)
99		132
100	ISR(ADC_vect)	133	ISR(ADC_vect)
101	{	134	{
102	static uint8_t adc_channel = 0, state = 0;	135	static uint8_t adc_channel = 0, state = 0;
103	static uint16_t yaw1, roll1, nick1;	136	static uint16_t yaw1, roll1, nick1;
104	static uint8_t average_pressure = 0;	-
105	static int16_t tmpAirPressure = 0;	137	static int16_t tmpAirPressure = 0;
106	// disable further AD conversion	138	// disable further AD conversion
107	ADC_Disable();	139	ADC_Disable();
108	// state machine	140	// state machine
109	switch(state++)	141	switch(state++)
110	{	142	{
111	case 0:	143	case 0:
112	yaw1 = ADC; // get Gyro Yaw Voltage 1st sample	144	yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
113	adc_channel = 1; // set next channel to ADC1 = ROLL GYRO	145	adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
114	MeasurementCounter++; // increment total measurement counter	146	MeasurementCounter++; // increment total measurement counter
115	break;	147	break;
116	case 1:	148	case 1:
117	roll1 = ADC; // get Gyro Roll Voltage 1st sample	149	roll1 = ADC; // get Gyro Roll Voltage 1st sample
118	adc_channel = 2; // set next channel to ADC2 = NICK GYRO	150	adc_channel = 2; // set next channel to ADC2 = NICK GYRO
119	break;	151	break;
120	case 2:	152	case 2:
121	nick1 = ADC; // get Gyro Nick Voltage 1st sample	153	nick1 = ADC; // get Gyro Nick Voltage 1st sample
122	adc_channel = 4; // set next channel to ADC4 = UBAT	154	adc_channel = 4; // set next channel to ADC4 = UBAT
123	break;	155	break;
124	case 3:	156	case 3:
125	// get actual UBat (Volts10) is ADC30V/1024*10 = ADC/3	157	// 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	158	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	159	adc_channel = 6; // set next channel to ADC6 = ACC_Y
128	break;	160	break;
129	case 4:	161	case 4:
130	AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction	162	AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction
131	adc_channel = 7; // set next channel to ADC7 = ACC_X	163	adc_channel = 7; // set next channel to ADC7 = ACC_X
132	break;	164	break;
133	case 5:	165	case 5:
134	AdValueAccNick = ADC - NeutralAccX; // get acceleration in X direction	166	AdValueAccNick = ADC - NeutralAccX; // get acceleration in X direction
135	adc_channel = 0; // set next channel to ADC7 = YAW GYRO	167	adc_channel = 0; // set next channel to ADC7 = YAW GYRO
136	break;	168	break;
137	case 6:	169	case 6:
138	// average over two samples to create current AdValueGyrYaw	170	// average over two samples to create current AdValueGyrYaw
139	if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2;	171	if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2;
140	else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1	172	else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1
141	adc_channel = 1; // set next channel to ADC7 = ROLL GYRO	173	adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
142	break;	174	break;
143	case 7:	175	case 7:
144	// average over two samples to create current ADValueGyrRoll	176	// average over two samples to create current ADValueGyrRoll
145	if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2;	177	if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2;
146	else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1	178	else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
147	adc_channel = 2; // set next channel to ADC2 = NICK GYRO	179	adc_channel = 2; // set next channel to ADC2 = NICK GYRO
148	break;	180	break;
149	case 8:	181	case 8:
150	// average over two samples to create current ADValueNick	182	// average over two samples to create current ADValueNick
151	if(BoardRelease == 10) AdValueGyrNick = (ADC + nick1) / 2;	183	if(BoardRelease == 10) AdValueGyrNick = (ADC + nick1) / 2;
152	else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1	184	else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1
153	adc_channel = 5; // set next channel to ADC5 = ACC_Z	185	adc_channel = 5; // set next channel to ADC5 = ACC_Z
154	break;	186	break;
155	case 9:	187	case 9:
156	// get z acceleration	188	// get z acceleration
157	AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction	189	AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction
158	AdValueAccTop += abs(AdValueAccNick) / 4 + abs(AdValueAccRoll) / 4;	190	AdValueAccTop += abs(AdValueAccNick) / 4 + abs(AdValueAccRoll) / 4;
159	if(AdValueAccTop > 1)	191	if(AdValueAccTop > 1)
160	{	192	{
161	if(NeutralAccZ < 750)	193	if(NeutralAccZ < 750)
162	{	194	{
163	NeutralAccZ += 0.02;	195	NeutralAccZ += 0.02;
164	if(Model_Is_Flying < 500) NeutralAccZ += 0.1;	196	if(Model_Is_Flying < 500) NeutralAccZ += 0.1;
165	}	197	}
166	}	198	}
167	else if(AdValueAccTop < -1)	199	else if(AdValueAccTop < -1)
168	{	200	{
169	if(NeutralAccZ > 550)	201	if(NeutralAccZ > 550)
170	{	202	{
171	NeutralAccZ-= 0.02;	203	NeutralAccZ-= 0.02;
172	if(Model_Is_Flying < 500) NeutralAccZ -= 0.1;	204	if(Model_Is_Flying < 500) NeutralAccZ -= 0.1;
173	}	205	}
174	}	206	}
175	Current_AccZ = ADC;	207	Current_AccZ = ADC;
176	Reading_Integral_Top += AdValueAccTop; // Integrieren	208	Reading_Integral_Top += AdValueAccTop; // Integrieren
177	Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen	209	Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
178	adc_channel = 3; // set next channel to ADC3 = air pressure	210	adc_channel = 3; // set next channel to ADC3 = air pressure
179	break;	211	break;
180	case 10:	212	case 10:
181	tmpAirPressure += ADC; // sum vadc values	213	tmpAirPressure += ADC; // sum vadc values
182	if(++average_pressure >= 5) // if 5 values are summerized for averaging	214	if(++average_pressure >= 5) // if 5 values are summerized for averaging
183	{	215	{
184	ReadingAirPressure = ADC; // update measured air pressure	216	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	217	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	218	AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history
187	ReadingHeight = StartAirPressure - AirPressure;	219	ReadingHeight = StartAirPressure - AirPressure;
188	average_pressure = 0; // reset air pressure measurement counter	220	average_pressure = 0; // reset air pressure measurement counter
189	tmpAirPressure = 0;	221	tmpAirPressure = 0;
190	}	222	}
191	adc_channel = 0; // set next channel to ADC0 = GIER GYRO	223	adc_channel = 0; // set next channel to ADC0 = GIER GYRO
192	state = 0; // reset state machine	224	state = 0; // reset state machine
193	break;	225	break;
194	default:	226	default:
195	adc_channel = 0;	227	adc_channel = 0;
196	state = 0;	228	state = 0;
197	break;	229	break;
198	}	230	}
199	// set adc muxer to next adc_channel	231	// set adc muxer to next adc_channel
200	ADMUX = (ADMUX & 0xE0) \| adc_channel;	232	ADMUX = (ADMUX & 0xE0) \| adc_channel;
201	// after full cycle stop further interrupts	233	// after full cycle stop further interrupts
202	if(state != 0) ADC_Enable();	234	if(state != 0) ADC_Enable();
203	}	235	}
204		236

Subversion Repositories FlightCtrl

(root)/branches/V0.70d Code Redesign killagreg/analog.c @ 1188 - Rev 935 → 936