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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 | 7 | ||
8 | #include "main.h" |
8 | #include "main.h" |
9 | 9 | ||
10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
11 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
11 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
12 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
12 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
14 | volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
14 | volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
15 | volatile long Luftdruck = 32000; |
15 | volatile long Luftdruck = 32000; |
16 | volatile int StartLuftdruck; |
16 | volatile int StartLuftdruck; |
17 | volatile unsigned int MessLuftdruck = 1023; |
17 | volatile unsigned int MessLuftdruck = 1023; |
18 | unsigned char DruckOffsetSetting; |
18 | unsigned char DruckOffsetSetting; |
19 | volatile int HoeheD = 0; |
19 | volatile int HoeheD = 0; |
20 | volatile char messanzahl_Druck; |
20 | volatile char messanzahl_Druck; |
21 | volatile int tmpLuftdruck; |
21 | volatile int tmpLuftdruck; |
22 | volatile unsigned int ZaehlMessungen = 0; |
22 | volatile unsigned int ZaehlMessungen = 0; |
23 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
23 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
24 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
24 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
25 | //####################################################################################### |
25 | //####################################################################################### |
26 | // |
26 | // |
27 | void ADC_Init(void) |
27 | void ADC_Init(void) |
28 | //####################################################################################### |
28 | //####################################################################################### |
29 | { |
29 | { |
30 | ADMUX = 0;//Referenz ist extern |
30 | ADMUX = 0;//Referenz ist extern |
31 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
31 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
32 | //Free Running Mode, Division Factor 128, Interrupt on |
32 | //Free Running Mode, Division Factor 128, Interrupt on |
33 | } |
33 | } |
34 | 34 | ||
35 | void SucheLuftruckOffset(void) |
35 | void SucheLuftruckOffset(void) |
36 | { |
36 | { |
37 | unsigned int off; |
37 | unsigned int off; |
38 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
38 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
39 | if(off > 20) off -= 10; |
39 | if(off > 20) off -= 10; |
40 | OCR0A = off; |
40 | OCR0A = off; |
41 | Delay_ms_Mess(100); |
41 | Delay_ms_Mess(100); |
42 | if(MessLuftdruck < 850) off = 0; |
42 | if(MessLuftdruck < 850) off = 0; |
43 | for(; off < 250;off++) |
43 | for(; off < 250;off++) |
44 | { |
44 | { |
45 | OCR0A = off; |
45 | OCR0A = off; |
46 | Delay_ms_Mess(50); |
46 | Delay_ms_Mess(50); |
47 | printf("."); |
47 | printf("."); |
48 | if(MessLuftdruck < 900) break; |
48 | if(MessLuftdruck < 900) break; |
49 | } |
49 | } |
50 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
50 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
51 | DruckOffsetSetting = off; |
51 | DruckOffsetSetting = off; |
52 | Delay_ms_Mess(300); |
52 | Delay_ms_Mess(300); |
53 | } |
53 | } |
54 | 54 | ||
55 | void SucheGyroOffset(void) |
55 | void SucheGyroOffset(void) |
56 | { |
56 | { |
57 | unsigned char i, ready = 0; |
57 | unsigned char i, ready = 0; |
58 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
58 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
59 | for(i=140; i != 0; i--) |
59 | for(i=140; i != 0; i--) |
60 | { |
60 | { |
61 | if(ready == 3 && i > 10) i = 5; |
61 | if(ready == 3 && i > 10) i = 9; |
62 | ready = 0; |
62 | ready = 0; |
63 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
63 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
64 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
64 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
65 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
65 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
66 | twi_state = 8; |
66 | twi_state = 8; |
67 | i2c_start(); |
67 | i2c_start(); |
68 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
68 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
69 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
69 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
70 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
70 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
71 | while(twi_state); |
71 | while(twi_state); |
72 | messanzahl_Druck = 0; |
72 | messanzahl_Druck = 0; |
73 | ANALOG_ON; |
73 | ANALOG_ON; |
74 | while(messanzahl_Druck == 0); |
74 | while(messanzahl_Druck == 0); |
75 | if(i<10) Delay_ms_Mess(10); |
75 | if(i<10) Delay_ms_Mess(10); |
76 | } |
76 | } |
77 | Delay_ms_Mess(50); |
77 | Delay_ms_Mess(70); |
78 | } |
78 | } |
79 | 79 | ||
80 | 80 | ||
81 | //####################################################################################### |
81 | //####################################################################################### |
82 | // |
82 | // |
83 | SIGNAL(SIG_ADC) |
83 | SIGNAL(SIG_ADC) |
84 | //####################################################################################### |
84 | //####################################################################################### |
85 | { |
85 | { |
86 | static unsigned char kanal=0,state = 0; |
86 | static unsigned char kanal=0,state = 0; |
87 | static unsigned int gier1, roll1, nick1; |
87 | static unsigned int gier1, roll1, nick1; |
88 | ANALOG_OFF; |
88 | ANALOG_OFF; |
89 | switch(state++) |
89 | switch(state++) |
90 | { |
90 | { |
91 | case 0: |
91 | case 0: |
92 | gier1 = ADC; |
92 | gier1 = ADC; |
93 | kanal = 1; |
93 | kanal = 1; |
94 | ZaehlMessungen++; |
94 | ZaehlMessungen++; |
95 | break; |
95 | break; |
96 | case 1: |
96 | case 1: |
97 | roll1 = ADC; |
97 | roll1 = ADC; |
98 | kanal = 2; |
98 | kanal = 2; |
99 | break; |
99 | break; |
100 | case 2: |
100 | case 2: |
101 | nick1 = ADC; |
101 | nick1 = ADC; |
102 | kanal = 4; |
102 | kanal = 4; |
103 | break; |
103 | break; |
104 | case 3: |
104 | case 3: |
105 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
105 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
106 | kanal = 6; |
106 | kanal = 6; |
107 | break; |
107 | break; |
108 | case 4: |
108 | case 4: |
109 | Aktuell_ay = NeutralAccY - ADC; |
109 | Aktuell_ay = NeutralAccY - ADC; |
110 | AdWertAccRoll = Aktuell_ay; |
110 | AdWertAccRoll = Aktuell_ay; |
111 | kanal = 7; |
111 | kanal = 7; |
112 | break; |
112 | break; |
113 | case 5: |
113 | case 5: |
114 | Aktuell_ax = ADC - NeutralAccX; |
114 | Aktuell_ax = ADC - NeutralAccX; |
115 | AdWertAccNick = Aktuell_ax; |
115 | AdWertAccNick = Aktuell_ax; |
116 | kanal = 0; |
116 | kanal = 0; |
117 | break; |
117 | break; |
118 | case 6: |
118 | case 6: |
119 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
119 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
120 | else AdWertGier = ADC + gier1; |
120 | else AdWertGier = ADC + gier1; |
121 | kanal = 1; |
121 | kanal = 1; |
122 | break; |
122 | break; |
123 | case 7: |
123 | case 7: |
124 | if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
124 | if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
125 | else AdWertRoll = ADC + roll1; |
125 | else AdWertRoll = ADC + roll1; |
126 | kanal = 2; |
126 | kanal = 2; |
127 | break; |
127 | break; |
128 | case 8: |
128 | case 8: |
129 | if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
129 | if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
130 | else AdWertNick = ADC + nick1; |
130 | else AdWertNick = ADC + nick1; |
131 | //AdWertNick = 0; |
131 | //AdWertNick = 0; |
132 | //AdWertNick += Poti2; |
132 | //AdWertNick += Poti2; |
133 | kanal = 5; |
133 | kanal = 5; |
134 | break; |
134 | break; |
135 | case 9: |
135 | case 9: |
136 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
136 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
137 | // AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
137 | // AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
138 | if(AdWertAccHoch > 1) |
138 | if(AdWertAccHoch > 1) |
139 | { |
139 | { |
140 | if(NeutralAccZ < 750) |
140 | if(NeutralAccZ < 750) |
141 | { |
141 | { |
142 | NeutralAccZ += 0.02; |
142 | NeutralAccZ += 0.02; |
143 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
143 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
144 | } |
144 | } |
145 | } |
145 | } |
146 | else if(AdWertAccHoch < -1) |
146 | else if(AdWertAccHoch < -1) |
147 | { |
147 | { |
148 | if(NeutralAccZ > 550) |
148 | if(NeutralAccZ > 550) |
149 | { |
149 | { |
150 | NeutralAccZ-= 0.02; |
150 | NeutralAccZ-= 0.02; |
151 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
151 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
152 | } |
152 | } |
153 | } |
153 | } |
154 | messanzahl_AccHoch = 1; |
154 | messanzahl_AccHoch = 1; |
155 | Aktuell_az = ADC; |
155 | Aktuell_az = ADC; |
156 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
156 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
157 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
157 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
158 | kanal = 3; |
158 | kanal = 3; |
159 | break; |
159 | break; |
160 | case 10: |
160 | case 10: |
161 | tmpLuftdruck += ADC; |
161 | tmpLuftdruck += ADC; |
162 | if(++messanzahl_Druck >= 5) |
162 | if(++messanzahl_Druck >= 5) |
163 | { |
163 | { |
164 | MessLuftdruck = ADC; |
164 | MessLuftdruck = ADC; |
165 | messanzahl_Druck = 0; |
165 | messanzahl_Druck = 0; |
166 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(StartLuftdruck - tmpLuftdruck - HoehenWert))/8; // D-Anteil = neuerWert - AlterWert |
166 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(StartLuftdruck - tmpLuftdruck - HoehenWert))/8; // D-Anteil = neuerWert - AlterWert |
167 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
167 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
168 | HoehenWert = StartLuftdruck - Luftdruck; |
168 | HoehenWert = StartLuftdruck - Luftdruck; |
169 | tmpLuftdruck = 0; |
169 | tmpLuftdruck = 0; |
170 | } |
170 | } |
171 | kanal = 0; |
171 | kanal = 0; |
172 | state = 0; |
172 | state = 0; |
173 | break; |
173 | break; |
174 | default: |
174 | default: |
175 | kanal = 0; |
175 | kanal = 0; |
176 | state = 0; |
176 | state = 0; |
177 | break; |
177 | break; |
178 | } |
178 | } |
179 | ADMUX = kanal; |
179 | ADMUX = kanal; |
180 | if(state != 0) ANALOG_ON; |
180 | if(state != 0) ANALOG_ON; |
181 | } |
181 | } |
182 | 182 |