WebSVN - FlightCtrl - Diff - Rev 1077 and 1078 - /branches/V0.71h 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;
int8_t ExpandBaro = 0;
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;
        ExpandBaro = 0;
        Delay_ms_Mess(100);
        if(ReadingAirPressure < 850) off = 0;
        for(; off < 250;off++)
        {
                OCR0A = off;
                Delay_ms_Mess(50);
                printf(".");
                if(ReadingAirPressure < 850) 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 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;
                                }
             }
             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)(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;
    // after full cycle stop further interrupts
    if(state != 0) ADC_Enable();
}
 

Rev 1077	Rev 1078
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	#include "twimaster.h"
18		18
19	volatile int16_t Current_AccZ = 0;	19	volatile int16_t Current_AccZ = 0;
20	volatile int16_t UBat = 100;	20	volatile int16_t UBat = 100;
21	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;	22	uint8_t AnalogOffsetNick = 115, AnalogOffsetRoll = 115, AnalogOffsetYaw = 115;
23	uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;	23	uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
24	volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0;	24	volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0;
25	volatile int32_t AirPressure = 32000;	25	volatile int32_t AirPressure = 32000;
26	volatile uint8_t average_pressure = 0;	26	volatile uint8_t average_pressure = 0;
27	volatile int16_t StartAirPressure;	27	volatile int16_t StartAirPressure;
28	volatile uint16_t ReadingAirPressure = 1023;	28	volatile uint16_t ReadingAirPressure = 1023;
-		29	int8_t ExpandBaro = 0;
29	uint8_t PressureSensorOffset;	30	uint8_t PressureSensorOffset;
30	volatile int16_t HeightD = 0;	31	volatile int16_t HeightD = 0;
31	volatile uint16_t MeasurementCounter = 0;	32	volatile uint16_t MeasurementCounter = 0;
32		33
33	/*****************************************************/	34	/*****************************************************/
34	/* Initialize Analog Digital Converter */	35	/* Initialize Analog Digital Converter */
35	/*****************************************************/	36	/*****************************************************/
36	void ADC_Init(void)	37	void ADC_Init(void)
37	{	38	{
38	uint8_t sreg = SREG;	39	uint8_t sreg = SREG;
39	// disable all interrupts before reconfiguration	40	// disable all interrupts before reconfiguration
40	cli();	41	cli();
41	//ADC0 ... ADC7 is connected to PortA pin 0 ... 7	42	//ADC0 ... ADC7 is connected to PortA pin 0 ... 7
42	DDRA = 0x00;	43	DDRA = 0x00;
43	PORTA = 0x00;	44	PORTA = 0x00;
44	// Digital Input Disable Register 0	45	// Digital Input Disable Register 0
45	// Disable digital input buffer for analog adc_channel pins	46	// Disable digital input buffer for analog adc_channel pins
46	DIDR0 = 0xFF;	47	DIDR0 = 0xFF;
47	// external reference, adjust data to the right	48	// external reference, adjust data to the right
48	ADMUX &= ~((1 << REFS1)\|(1 << REFS0)\|(1 << ADLAR));	49	ADMUX &= ~((1 << REFS1)\|(1 << REFS0)\|(1 << ADLAR));
49	// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)	50	// set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
50	ADMUX = (ADMUX & 0xE0) \| 0x00;	51	ADMUX = (ADMUX & 0xE0) \| 0x00;
51	//Set ADC Control and Status Register A	52	//Set ADC Control and Status Register A
52	//Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz	53	//Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
53	ADCSRA = (1<<ADATE)\|(1<<ADPS2)\|(1<<ADPS1)\|(1<<ADPS0);	54	ADCSRA = (1<<ADATE)\|(1<<ADPS2)\|(1<<ADPS1)\|(1<<ADPS0);
54	//Set ADC Control and Status Register B	55	//Set ADC Control and Status Register B
55	//Trigger Source to Free Running Mode	56	//Trigger Source to Free Running Mode
56	ADCSRB &= ~((1 << ADTS2)\|(1 << ADTS1)\|(1 << ADTS0));	57	ADCSRB &= ~((1 << ADTS2)\|(1 << ADTS1)\|(1 << ADTS0));
57	// Enable AD conversion	58	// Enable AD conversion
58	ADC_Enable();	59	ADC_Enable();
59	// restore global interrupt flags	60	// restore global interrupt flags
60	SREG = sreg;	61	SREG = sreg;
61	}	62	}
62		63
63	void SearchAirPressureOffset(void)	64	void SearchAirPressureOffset(void)
64	{	65	{
65	uint8_t off;	66	uint8_t off;
66	off = GetParamByte(PID_PRESSURE_OFFSET);	67	off = GetParamByte(PID_PRESSURE_OFFSET);
67	if(off > 20) off -= 10;	68	if(off > 20) off -= 10;
68	OCR0A = off;	69	OCR0A = off;
-		70	ExpandBaro = 0;
69	Delay_ms_Mess(100);	71	Delay_ms_Mess(100);
70	if(ReadingAirPressure < 850) off = 0;	72	if(ReadingAirPressure < 850) off = 0;
71	for(; off < 250;off++)	73	for(; off < 250;off++)
72	{	74	{
73	OCR0A = off;	75	OCR0A = off;
74	Delay_ms_Mess(50);	76	Delay_ms_Mess(50);
75	printf(".");	77	printf(".");
76	if(ReadingAirPressure < 900) break;	78	if(ReadingAirPressure < 850) break;
77	}	79	}
78	SetParamByte(PID_PRESSURE_OFFSET, off);	80	SetParamByte(PID_PRESSURE_OFFSET, off);
79	PressureSensorOffset = off;	81	PressureSensorOffset = off;
80	Delay_ms_Mess(300);	82	Delay_ms_Mess(300);
81	}	83	}
82		84
83		85
84	void SearchGyroOffset(void)	86	void SearchGyroOffset(void)
85	{	87	{
86	uint8_t i, ready = 0;	88	uint8_t i, ready = 0;
87		89
88	GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0;	90	GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0;
89	for(i = 140; i != 0; i--)	91	for(i = 140; i != 0; i--)
90	{	92	{
91	if(ready == 3 && i > 10) i = 9;	93	if(ready == 3 && i > 10) i = 9;
92	ready = 0;	94	ready = 0;
93	if(AdValueGyrNick < 1020) AnalogOffsetNick--; else if(AdValueGyrNick > 1030) AnalogOffsetNick++; else ready++;	95	if(AdValueGyrNick < 1020) AnalogOffsetNick--; else if(AdValueGyrNick > 1030) AnalogOffsetNick++; else ready++;
94	if(AdValueGyrRoll < 1020) AnalogOffsetRoll--; else if(AdValueGyrRoll > 1030) AnalogOffsetRoll++; else ready++;	96	if(AdValueGyrRoll < 1020) AnalogOffsetRoll--; else if(AdValueGyrRoll > 1030) AnalogOffsetRoll++; else ready++;
95	if(AdValueGyrYaw < 1020) AnalogOffsetYaw-- ; else if(AdValueGyrYaw > 1030) AnalogOffsetYaw++ ; else ready++;	97	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	98	twi_state = TWI_STATE_GYRO_OFFSET_TX; // set twi_state in TWI ISR to start of Gyro Offset
97	I2C_Start(); // initiate data transmission	99	I2C_Start(); // initiate data transmission
98	if(AnalogOffsetNick < 10) { GyroDefectNick = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefectNick = 1; AnalogOffsetNick = 245;};	100	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;};	101	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;};	102	if(AnalogOffsetYaw < 10) { GyroDefectYaw = 1; AnalogOffsetYaw = 10;}; if(AnalogOffsetYaw > 245) { GyroDefectYaw = 1; AnalogOffsetYaw = 245;};
101	while(twi_state); // wait for end of data transmission	103	while(twi_state); // wait for end of data transmission
102	average_pressure = 0;	104	average_pressure = 0;
103	ADC_Enable();	105	ADC_Enable();
104	while(average_pressure == 0);	106	while(average_pressure == 0);
105	if(i < 10) Delay_ms_Mess(10);	107	if(i < 10) Delay_ms_Mess(10);
106	}	108	}
107	Delay_ms_Mess(70);	109	Delay_ms_Mess(70);
108	}	110	}
109		111
110		112
111		113
112		114
113	/*****************************************************/	115	/*****************************************************/
114	/* Interrupt Service Routine for ADC */	116	/* Interrupt Service Routine for ADC */
115	/*****************************************************/	117	/*****************************************************/
116	// runs at 156.25 kHz or 6.4 µs	118	// runs at 156.25 kHz or 6.4 µs
117	// if after (70.4µs) all 11 states are processed the interrupt is disabled	119	// if after (70.4µs) all 11 states are processed the interrupt is disabled
118	// and the update of further ads is stopped	120	// and the update of further ads is stopped
119	// The routine changes the ADC input muxer running	121	// The routine changes the ADC input muxer running
120	// thru the state machine by the following order.	122	// thru the state machine by the following order.
121	// state 0: ch0 (yaw gyro)	123	// state 0: ch0 (yaw gyro)
122	// state 1: ch1 (roll gyro)	124	// state 1: ch1 (roll gyro)
123	// state 2: ch2 (nick gyro)	125	// state 2: ch2 (nick gyro)
124	// state 3: ch4 (battery voltage -> UBat)	126	// state 3: ch4 (battery voltage -> UBat)
125	// state 4: ch6 (acc y -> Current_AccY)	127	// state 4: ch6 (acc y -> Current_AccY)
126	// state 5: ch7 (acc x -> Current_AccX)	128	// state 5: ch7 (acc x -> Current_AccX)
127	// state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw)	129	// state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw)
128	// state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll)	130	// state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll)
129	// state 8: ch2 (nick gyro average with first reading -> AdValueGyrNick)	131	// state 8: ch2 (nick gyro average with first reading -> AdValueGyrNick)
130	// state 9: ch5 (acc z add also 4th part of acc x and acc y to reading)	132	// state 9: ch5 (acc z add also 4th part of acc x and acc y to reading)
131	// state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure)	133	// state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure)
132		134
133	ISR(ADC_vect)	135	ISR(ADC_vect)
134	{	136	{
135	static uint8_t adc_channel = 0, state = 0;	137	static uint8_t adc_channel = 0, state = 0;
136	static uint16_t yaw1, roll1, nick1;	138	static uint16_t yaw1, roll1, nick1;
137	static int16_t tmpAirPressure = 0;	139	static int16_t tmpAirPressure = 0;
138	// disable further AD conversion	140	// disable further AD conversion
139	ADC_Disable();	141	ADC_Disable();
140	// state machine	142	// state machine
141	switch(state++)	143	switch(state++)
142	{	144	{
143	case 0:	145	case 0:
144	yaw1 = ADC; // get Gyro Yaw Voltage 1st sample	146	yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
145	adc_channel = 1; // set next channel to ADC1 = ROLL GYRO	147	adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
146	MeasurementCounter++; // increment total measurement counter	148	MeasurementCounter++; // increment total measurement counter
147	break;	149	break;
148	case 1:	150	case 1:
149	roll1 = ADC; // get Gyro Roll Voltage 1st sample	151	roll1 = ADC; // get Gyro Roll Voltage 1st sample
150	adc_channel = 2; // set next channel to ADC2 = NICK GYRO	152	adc_channel = 2; // set next channel to ADC2 = NICK GYRO
151	break;	153	break;
152	case 2:	154	case 2:
153	nick1 = ADC; // get Gyro Nick Voltage 1st sample	155	nick1 = ADC; // get Gyro Nick Voltage 1st sample
154	adc_channel = 4; // set next channel to ADC4 = UBAT	156	adc_channel = 4; // set next channel to ADC4 = UBAT
155	break;	157	break;
156	case 3:	158	case 3:
157	// get actual UBat (Volts10) is ADC30V/1024*10 = ADC/3	159	// get actual UBat (Volts10) is ADC30V/1024*10 = ADC/3
158	UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value	160	UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
159	adc_channel = 6; // set next channel to ADC6 = ACC_Y	161	adc_channel = 6; // set next channel to ADC6 = ACC_Y
160	break;	162	break;
161	case 4:	163	case 4:
162	AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction	164	AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction
163	adc_channel = 7; // set next channel to ADC7 = ACC_X	165	adc_channel = 7; // set next channel to ADC7 = ACC_X
164	break;	166	break;
165	case 5:	167	case 5:
166	AdValueAccNick = ADC - NeutralAccX; // get acceleration in X direction	168	AdValueAccNick = ADC - NeutralAccX; // get acceleration in X direction
167	adc_channel = 0; // set next channel to ADC7 = YAW GYRO	169	adc_channel = 0; // set next channel to ADC7 = YAW GYRO
168	break;	170	break;
169	case 6:	171	case 6:
170	// average over two samples to create current AdValueGyrYaw	172	// average over two samples to create current AdValueGyrYaw
171	if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2;	173	if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2;
-		174	else if (BoardRelease == 20) AdValueGyrYaw = 1023 - (ADC + yaw1);
172	else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1	175	else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1
173	adc_channel = 1; // set next channel to ADC7 = ROLL GYRO	176	adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
174	break;	177	break;
175	case 7:	178	case 7:
176	// average over two samples to create current ADValueGyrRoll	179	// average over two samples to create current ADValueGyrRoll
177	if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2;	180	if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2;
178	else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1	181	else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
179	adc_channel = 2; // set next channel to ADC2 = NICK GYRO	182	adc_channel = 2; // set next channel to ADC2 = NICK GYRO
180	break;	183	break;
181	case 8:	184	case 8:
182	// average over two samples to create current ADValueNick	185	// average over two samples to create current ADValueNick
183	if(BoardRelease == 10) AdValueGyrNick = (ADC + nick1) / 2;	186	if(BoardRelease == 10) AdValueGyrNick = (ADC + nick1) / 2;
184	else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1	187	else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1
185	adc_channel = 5; // set next channel to ADC5 = ACC_Z	188	adc_channel = 5; // set next channel to ADC5 = ACC_Z
186	break;	189	break;
187	case 9:	190	case 9:
188	// get z acceleration	191	// get z acceleration
189	AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction	192	AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction
190	AdValueAccTop += abs(AdValueAccNick) / 4 + abs(AdValueAccRoll) / 4;	193	AdValueAccTop += abs(AdValueAccNick) / 4 + abs(AdValueAccRoll) / 4;
191	if(AdValueAccTop > 1)	194	if(AdValueAccTop > 1)
192	{	195	{
193	if(NeutralAccZ < 750)	196	if(NeutralAccZ < 750)
194	{	197	{
195	NeutralAccZ += 0.02;	198	NeutralAccZ += 0.02;
196	if(Model_Is_Flying < 500) NeutralAccZ += 0.1;	199	if(Model_Is_Flying < 500) NeutralAccZ += 0.1;
197	}	200	}
198	}	201	}
199	else if(AdValueAccTop < -1)	202	else if(AdValueAccTop < -1)
200	{	203	{
201	if(NeutralAccZ > 550)	204	if(NeutralAccZ > 550)
202	{	205	{
203	NeutralAccZ-= 0.02;	206	NeutralAccZ-= 0.02;
204	if(Model_Is_Flying < 500) NeutralAccZ -= 0.1;	207	if(Model_Is_Flying < 500) NeutralAccZ -= 0.1;
205	}	208	}
206	}	209	}
207	Current_AccZ = ADC;	210	Current_AccZ = ADC;
208	Reading_Integral_Top += AdValueAccTop; // Integrieren	211	Reading_Integral_Top += AdValueAccTop; // Integrieren
209	Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen	212	Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
210	adc_channel = 3; // set next channel to ADC3 = air pressure	213	adc_channel = 3; // set next channel to ADC3 = air pressure
211	break;	214	break;
212	case 10:	215	case 10:
213	tmpAirPressure += ADC; // sum vadc values	216	tmpAirPressure += ADC; // sum vadc values
214	if(++average_pressure >= 5) // if 5 values are summerized for averaging	217	if(++average_pressure >= 5) // if 5 values are summerized for averaging
215	{	218	{
216	ReadingAirPressure = ADC; // update measured air pressure	219	ReadingAirPressure = ADC; // update measured air pressure
217	HeightD = (7 * HeightD + (int16_t)FCParam.Height_D * (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight))/8; // D-Part = CurrentValue - OldValue	220	HeightD = (7 * HeightD + (int16_t)FCParam.Height_D * (int16_t)(255 * ExpandBaro + StartAirPressure - tmpAirPressure - ReadingHeight))/8; // D-Part = CurrentValue - OldValue
218	AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history	221	AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history
219	ReadingHeight = StartAirPressure - AirPressure;	222	ReadingHeight = 255 * ExpandBaro + StartAirPressure - AirPressure;
220	average_pressure = 0; // reset air pressure measurement counter	223	average_pressure = 0; // reset air pressure measurement counter
221	tmpAirPressure = 0;	224	tmpAirPressure = 0;
222	}	225	}
223	adc_channel = 0; // set next channel to ADC0 = GIER GYRO	226	adc_channel = 0; // set next channel to ADC0 = GIER GYRO
224	state = 0; // reset state machine	227	state = 0; // reset state machine
225	break;	228	break;
226	default:	229	default:
227	adc_channel = 0;	230	adc_channel = 0;
228	state = 0;	231	state = 0;
229	break;	232	break;
230	}	233	}
231	// set adc muxer to next adc_channel	234	// set adc muxer to next adc_channel
232	ADMUX = (ADMUX & 0xE0) \| adc_channel;	235	ADMUX = (ADMUX & 0xE0) \| adc_channel;
233	// after full cycle stop further interrupts	236	// after full cycle stop further interrupts
234	if(state != 0) ADC_Enable();	237	if(state != 0) ADC_Enable();
235	}	238	}
236		239

Subversion Repositories FlightCtrl

(root)/branches/V0.71h Code Redesign killagreg/analog.c - Rev 1077 → 1078