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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
2 | // + Copyright (c) Holger Buss, Ingo Busker |
3 | // + only for non-profit use |
3 | // + only for non-profit use |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
5 | // + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed |
6 | // + see the File "License.txt" for further Informations |
6 | // + see the File "License.txt" for further Informations |
7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
8 | 8 | ||
9 | #include "main.h" |
9 | #include "main.h" |
10 | #include "eeprom.h" |
10 | #include "eeprom.h" |
11 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
11 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
12 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
12 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
13 | volatile int HiResNick = 2500, HiResRoll = 2500; |
13 | volatile int HiResNick = 2500, HiResRoll = 2500; |
14 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
14 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
15 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
15 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
16 | volatile char messanzahl_AccHoch = 0; |
16 | volatile char messanzahl_AccHoch = 0; |
17 | volatile long Luftdruck = 32000; |
17 | volatile long Luftdruck = 32000; |
18 | volatile long SummenHoehe = 0; |
18 | volatile long SummenHoehe = 0; |
19 | volatile int StartLuftdruck; |
19 | volatile int StartLuftdruck; |
20 | volatile unsigned int MessLuftdruck = 1023; |
20 | volatile unsigned int MessLuftdruck = 1023; |
21 | unsigned char DruckOffsetSetting; |
21 | unsigned char DruckOffsetSetting; |
22 | signed char ExpandBaro = 0; |
22 | signed char ExpandBaro = 0; |
23 | volatile int VarioMeter = 0; |
23 | volatile int VarioMeter = 0; |
24 | volatile unsigned int ZaehlMessungen = 0; |
24 | volatile unsigned int ZaehlMessungen = 0; |
25 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
25 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
26 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
26 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
27 | volatile unsigned char AdReady = 1; |
27 | volatile unsigned char AdReady = 1; |
28 | float NeutralAccZ_float; |
28 | float NeutralAccZ_float; |
29 | //####################################################################################### |
29 | //####################################################################################### |
30 | // |
30 | // |
31 | void ADC_Init(void) |
31 | void ADC_Init(void) |
32 | //####################################################################################### |
32 | //####################################################################################### |
33 | { |
33 | { |
34 | ADMUX = 0;//Referenz ist extern |
34 | ADMUX = 0;//Referenz ist extern |
35 | ANALOG_ON; |
35 | ANALOG_ON; |
36 | } |
36 | } |
37 | 37 | ||
38 | #define DESIRED_H_ADC 800 |
38 | #define DESIRED_H_ADC 800 |
39 | 39 | ||
40 | void SucheLuftruckOffset(void) |
40 | void SucheLuftruckOffset(void) |
41 | { |
41 | { |
42 | unsigned int off; |
42 | unsigned int off; |
43 | off = GetParamByte(PID_PRESSURE_OFFSET); |
43 | off = GetParamByte(PID_PRESSURE_OFFSET); |
44 | if(off > 20) off -= 10; |
44 | if(off > 20) off -= 10; |
45 | OCR0A = off; |
45 | OCR0A = off; |
46 | ExpandBaro = 0; |
46 | ExpandBaro = 0; |
47 | Delay_ms_Mess(100); |
47 | Delay_ms_Mess(100); |
48 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
48 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
49 | for(; off < 250;off++) |
49 | for(; off < 250;off++) |
50 | { |
50 | { |
51 | OCR0A = off; |
51 | OCR0A = off; |
52 | Delay_ms_Mess(50); |
52 | Delay_ms_Mess(50); |
53 | printf("."); |
53 | printf("."); |
54 | if(MessLuftdruck < DESIRED_H_ADC) break; |
54 | if(MessLuftdruck < DESIRED_H_ADC) break; |
55 | } |
55 | } |
56 | SetParamByte(PID_PRESSURE_OFFSET, off); |
56 | SetParamByte(PID_PRESSURE_OFFSET, off); |
57 | DruckOffsetSetting = off; |
57 | DruckOffsetSetting = off; |
58 | OCR0A = off; |
58 | OCR0A = off; |
59 | Delay_ms_Mess(300); |
59 | Delay_ms_Mess(300); |
60 | 60 | ||
61 | } |
61 | } |
62 | 62 | ||
63 | void SucheGyroOffset(void) |
63 | void SucheGyroOffset(void) |
64 | { |
64 | { |
65 | unsigned char i, ready = 0; |
65 | unsigned char i, ready = 0; |
66 | int timeout; |
66 | int timeout; |
67 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
67 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
68 | timeout = SetDelay(2000); |
68 | timeout = SetDelay(2000); |
69 | for(i=140; i != 0; i--) |
69 | for(i=140; i != 0; i--) |
70 | { |
70 | { |
71 | if(ready == 3 && i > 10) i = 9; |
71 | if(ready == 3 && i > 10) i = 9; |
72 | ready = 0; |
72 | ready = 0; |
73 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
73 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
74 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
74 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
75 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
75 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
76 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
76 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
77 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
77 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
78 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
78 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
79 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
79 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
80 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
80 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
81 | AdReady = 0; |
81 | AdReady = 0; |
82 | ANALOG_ON; |
82 | ANALOG_ON; |
83 | while(!AdReady); |
83 | while(!AdReady); |
84 | if(i<10) Delay_ms_Mess(10); |
84 | if(i<10) Delay_ms_Mess(10); |
85 | } |
85 | } |
86 | Delay_ms_Mess(70); |
86 | Delay_ms_Mess(70); |
87 | } |
87 | } |
88 | 88 | ||
89 | /* |
89 | /* |
90 | 0 n |
90 | 0 n |
91 | 1 r |
91 | 1 r |
92 | 2 g |
92 | 2 g |
93 | 3 y |
93 | 3 y |
94 | 4 x |
94 | 4 x |
95 | 5 n |
95 | 5 n |
96 | 6 r |
96 | 6 r |
97 | 7 u |
97 | 7 u |
98 | 8 z |
98 | 8 z |
99 | 9 L |
99 | 9 L |
100 | 10 n |
100 | 10 n |
101 | 11 r |
101 | 11 r |
102 | 12 g |
102 | 12 g |
103 | 13 y |
103 | 13 y |
104 | 14 x |
104 | 14 x |
105 | 15 n |
105 | 15 n |
106 | 16 r |
106 | 16 r |
107 | 17 L |
107 | 17 L |
108 | */ |
108 | */ |
109 | 109 | ||
110 | //####################################################################################### |
110 | //####################################################################################### |
111 | // |
111 | // |
112 | ISR(ADC_vect) |
112 | ISR(ADC_vect) |
113 | //####################################################################################### |
113 | //####################################################################################### |
114 | { |
114 | { |
115 | static unsigned char kanal=0,state = 0; |
115 | static unsigned char kanal=0,state = 0; |
116 | static signed char subcount = 0; |
116 | static signed char subcount = 0; |
117 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
117 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
118 | static signed int accy, accx; |
118 | static signed int accy, accx; |
119 | static long tmpLuftdruck = 0; |
119 | static long tmpLuftdruck = 0; |
120 | static char messanzahl_Druck = 0; |
120 | static char messanzahl_Druck = 0; |
121 | switch(state++) |
121 | switch(state++) |
122 | { |
122 | { |
123 | case 0: |
123 | case 0: |
124 | nick1 = ADC; |
124 | nick1 = ADC; |
125 | kanal = AD_ROLL; |
125 | kanal = AD_ROLL; |
126 | break; |
126 | break; |
127 | case 1: |
127 | case 1: |
128 | roll1 = ADC; |
128 | roll1 = ADC; |
129 | kanal = AD_GIER; |
129 | kanal = AD_GIER; |
130 | break; |
130 | break; |
131 | case 2: |
131 | case 2: |
132 | gier1 = ADC; |
132 | gier1 = ADC; |
133 | kanal = AD_ACC_Y; |
133 | kanal = AD_ACC_Y; |
134 | break; |
134 | break; |
135 | case 3: |
135 | case 3: |
136 | Aktuell_ay = NeutralAccY - ADC; |
136 | Aktuell_ay = NeutralAccY - ADC; |
137 | accy = Aktuell_ay; |
137 | accy = Aktuell_ay; |
138 | kanal = AD_ACC_X; |
138 | kanal = AD_ACC_X; |
139 | break; |
139 | break; |
140 | case 4: |
140 | case 4: |
141 | Aktuell_ax = ADC - NeutralAccX; |
141 | Aktuell_ax = ADC - NeutralAccX; |
142 | accx = Aktuell_ax; |
142 | accx = Aktuell_ax; |
143 | kanal = AD_NICK; |
143 | kanal = AD_NICK; |
144 | break; |
144 | break; |
145 | case 5: |
145 | case 5: |
146 | nick1 += ADC; |
146 | nick1 += ADC; |
147 | kanal = AD_ROLL; |
147 | kanal = AD_ROLL; |
148 | break; |
148 | break; |
149 | case 6: |
149 | case 6: |
150 | roll1 += ADC; |
150 | roll1 += ADC; |
151 | kanal = AD_UBAT; |
151 | kanal = AD_UBAT; |
152 | break; |
152 | break; |
153 | case 7: |
153 | case 7: |
154 | UBat = (3 * UBat + ADC / 3) / 4; |
154 | UBat = (3 * UBat + ADC / 3) / 4; |
155 | kanal = AD_ACC_Z; |
155 | kanal = AD_ACC_Z; |
156 | break; |
156 | break; |
157 | case 8: |
157 | case 8: |
158 | 158 | ||
159 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
159 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
160 | if(AdWertAccHoch > 1) |
160 | if(AdWertAccHoch > 1) |
161 | { |
161 | { |
162 | if(NeutralAccZ < 750) |
162 | if(NeutralAccZ < 750) |
163 | { |
163 | { |
164 | subcount += 2; |
164 | subcount += 5; |
165 | if(modell_fliegt < 500) subcount += 10; |
165 | // if(modell_fliegt < 500) subcount += 10; |
166 | } |
166 | } |
167 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
167 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
168 | } |
168 | } |
169 | else if(AdWertAccHoch < -1) |
169 | else if(AdWertAccHoch < -1) |
170 | { |
170 | { |
171 | if(NeutralAccZ > 550) |
171 | if(NeutralAccZ > 550) |
172 | { |
172 | { |
173 | subcount -= 2; |
173 | subcount -= 5; |
174 | if(modell_fliegt < 500) subcount -= 10; |
174 | // if(modell_fliegt < 500) subcount -= 10; |
175 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
175 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
176 | } |
176 | } |
177 | } |
177 | } |
178 | /* |
178 | /* |
179 | AdWertAccHoch = (signed int) ADC - NeutralAccZ_float; |
179 | AdWertAccHoch = (signed int) ADC - NeutralAccZ_float; |
180 | if(AdWertAccHoch > 1) |
180 | if(AdWertAccHoch > 1) |
181 | { |
181 | { |
182 | if(NeutralAccZ_float < 750) |
182 | if(NeutralAccZ_float < 750) |
183 | { |
183 | { |
184 | NeutralAccZ_float += 0.02; |
184 | NeutralAccZ_float += 0.02; |
185 | if(modell_fliegt < 500) NeutralAccZ_float += 0.1; |
185 | if(modell_fliegt < 500) NeutralAccZ_float += 0.1; |
186 | } |
186 | } |
187 | } |
187 | } |
188 | else if(AdWertAccHoch < -1) |
188 | else if(AdWertAccHoch < -1) |
189 | { |
189 | { |
190 | if(NeutralAccZ_float > 550) |
190 | if(NeutralAccZ_float > 550) |
191 | { |
191 | { |
192 | NeutralAccZ_float-= 0.02; |
192 | NeutralAccZ_float-= 0.02; |
193 | if(modell_fliegt < 500) NeutralAccZ_float -= 0.1; |
193 | if(modell_fliegt < 500) NeutralAccZ_float -= 0.1; |
194 | } |
194 | } |
195 | } |
195 | } |
196 | */ |
196 | */ |
197 | messanzahl_AccHoch = 1; |
197 | messanzahl_AccHoch = 1; |
198 | Aktuell_az = ADC; |
198 | Aktuell_az = ADC; |
199 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
199 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
200 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
200 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
201 | kanal = AD_DRUCK; |
201 | kanal = AD_DRUCK; |
202 | break; |
202 | break; |
203 | // "case 8:" fehlt hier absichtlich |
203 | // "case 8:" fehlt hier absichtlich |
204 | case 10: |
204 | case 10: |
205 | nick1 += ADC; |
205 | nick1 += ADC; |
206 | kanal = AD_ROLL; |
206 | kanal = AD_ROLL; |
207 | break; |
207 | break; |
208 | case 11: |
208 | case 11: |
209 | roll1 += ADC; |
209 | roll1 += ADC; |
210 | kanal = AD_GIER; |
210 | kanal = AD_GIER; |
211 | break; |
211 | break; |
212 | case 12: |
212 | case 12: |
213 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
213 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
214 | else |
214 | else |
215 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
215 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
216 | else AdWertGier = (ADC + gier1); |
216 | else AdWertGier = (ADC + gier1); |
217 | kanal = AD_ACC_Y; |
217 | kanal = AD_ACC_Y; |
218 | break; |
218 | break; |
219 | case 13: |
219 | case 13: |
220 | Aktuell_ay = NeutralAccY - ADC; |
220 | Aktuell_ay = NeutralAccY - ADC; |
221 | AdWertAccRoll = (Aktuell_ay + accy); |
221 | AdWertAccRoll = (Aktuell_ay + accy); |
222 | kanal = AD_ACC_X; |
222 | kanal = AD_ACC_X; |
223 | break; |
223 | break; |
224 | case 14: |
224 | case 14: |
225 | Aktuell_ax = ADC - NeutralAccX; |
225 | Aktuell_ax = ADC - NeutralAccX; |
226 | AdWertAccNick = (Aktuell_ax + accx); |
226 | AdWertAccNick = (Aktuell_ax + accx); |
227 | kanal = AD_NICK; |
227 | kanal = AD_NICK; |
228 | break; |
228 | break; |
229 | case 15: |
229 | case 15: |
230 | nick1 += ADC; |
230 | nick1 += ADC; |
231 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
231 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
232 | AdWertNick = nick1 / 8; |
232 | AdWertNick = nick1 / 8; |
233 | nick_filter = (nick_filter + nick1) / 2; |
233 | nick_filter = (nick_filter + nick1) / 2; |
234 | HiResNick = nick_filter - AdNeutralNick; |
234 | HiResNick = nick_filter - AdNeutralNick; |
235 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
235 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
236 | kanal = AD_ROLL; |
236 | kanal = AD_ROLL; |
237 | break; |
237 | break; |
238 | case 16: |
238 | case 16: |
239 | roll1 += ADC; |
239 | roll1 += ADC; |
240 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
240 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
241 | AdWertRoll = roll1 / 8; |
241 | AdWertRoll = roll1 / 8; |
242 | roll_filter = (roll_filter + roll1) / 2; |
242 | roll_filter = (roll_filter + roll1) / 2; |
243 | HiResRoll = roll_filter - AdNeutralRoll; |
243 | HiResRoll = roll_filter - AdNeutralRoll; |
244 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
244 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
245 | kanal = AD_DRUCK; |
245 | kanal = AD_DRUCK; |
246 | break; |
246 | break; |
247 | case 17: |
247 | case 17: |
248 | state = 0; |
248 | state = 0; |
249 | AdReady = 1; |
249 | AdReady = 1; |
250 | ZaehlMessungen++; |
250 | ZaehlMessungen++; |
251 | // "break" fehlt hier absichtlich |
251 | // "break" fehlt hier absichtlich |
252 | case 9: |
252 | case 9: |
253 | MessLuftdruck = ADC; |
253 | MessLuftdruck = ADC; |
254 | tmpLuftdruck += MessLuftdruck; |
254 | tmpLuftdruck += MessLuftdruck; |
255 | if(++messanzahl_Druck >= 18) |
255 | if(++messanzahl_Druck >= 18) |
256 | { |
256 | { |
257 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
257 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
258 | HoehenWert = StartLuftdruck - Luftdruck; |
258 | HoehenWert = StartLuftdruck - Luftdruck; |
259 | SummenHoehe -= SummenHoehe/SM_FILTER; |
259 | SummenHoehe -= SummenHoehe/SM_FILTER; |
260 | SummenHoehe += HoehenWert; |
260 | SummenHoehe += HoehenWert; |
261 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
261 | VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
262 | tmpLuftdruck /= 2; |
262 | tmpLuftdruck /= 2; |
263 | messanzahl_Druck = 18/2; |
263 | messanzahl_Druck = 18/2; |
264 | } |
264 | } |
265 | kanal = AD_NICK; |
265 | kanal = AD_NICK; |
266 | break; |
266 | break; |
267 | default: |
267 | default: |
268 | kanal = 0; state = 0; kanal = AD_NICK; |
268 | kanal = 0; state = 0; kanal = AD_NICK; |
269 | break; |
269 | break; |
270 | } |
270 | } |
271 | ADMUX = kanal; |
271 | ADMUX = kanal; |
272 | if(state != 0) ANALOG_ON; |
272 | if(state != 0) ANALOG_ON; |
273 | 273 | ||
274 | } |
274 | } |
275 | 275 | ||
276 | 276 | ||
277 | 277 | ||
278 | /* |
278 | /* |
279 | //####################################################################################### |
279 | //####################################################################################### |
280 | // |
280 | // |
281 | SIGNAL(SIG_ADC) |
281 | SIGNAL(SIG_ADC) |
282 | //####################################################################################### |
282 | //####################################################################################### |
283 | { |
283 | { |
284 | static unsigned char kanal=0,state = 0; |
284 | static unsigned char kanal=0,state = 0; |
285 | static signed int gier1, roll1, nick1; |
285 | static signed int gier1, roll1, nick1; |
286 | static signed long nick_filter, roll_filter; |
286 | static signed long nick_filter, roll_filter; |
287 | static signed int accy, accx; |
287 | static signed int accy, accx; |
288 | switch(state++) |
288 | switch(state++) |
289 | { |
289 | { |
290 | case 0: |
290 | case 0: |
291 | nick1 = ADC; |
291 | nick1 = ADC; |
292 | kanal = AD_ROLL; |
292 | kanal = AD_ROLL; |
293 | break; |
293 | break; |
294 | case 1: |
294 | case 1: |
295 | roll1 = ADC; |
295 | roll1 = ADC; |
296 | kanal = AD_GIER; |
296 | kanal = AD_GIER; |
297 | break; |
297 | break; |
298 | case 2: |
298 | case 2: |
299 | gier1 = ADC; |
299 | gier1 = ADC; |
300 | kanal = AD_ACC_Y; |
300 | kanal = AD_ACC_Y; |
301 | break; |
301 | break; |
302 | case 3: |
302 | case 3: |
303 | Aktuell_ay = NeutralAccY - ADC; |
303 | Aktuell_ay = NeutralAccY - ADC; |
304 | accy = Aktuell_ay; |
304 | accy = Aktuell_ay; |
305 | kanal = AD_NICK; |
305 | kanal = AD_NICK; |
306 | break; |
306 | break; |
307 | case 4: |
307 | case 4: |
308 | nick1 += ADC; |
308 | nick1 += ADC; |
309 | kanal = AD_ROLL; |
309 | kanal = AD_ROLL; |
310 | break; |
310 | break; |
311 | case 5: |
311 | case 5: |
312 | roll1 += ADC; |
312 | roll1 += ADC; |
313 | kanal = AD_ACC_Z; |
313 | kanal = AD_ACC_Z; |
314 | break; |
314 | break; |
315 | case 6: |
315 | case 6: |
316 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
316 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
317 | if(AdWertAccHoch > 1) |
317 | if(AdWertAccHoch > 1) |
318 | { |
318 | { |
319 | if(NeutralAccZ < 750) |
319 | if(NeutralAccZ < 750) |
320 | { |
320 | { |
321 | NeutralAccZ += 0.02; |
321 | NeutralAccZ += 0.02; |
322 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
322 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
323 | } |
323 | } |
324 | } |
324 | } |
325 | else if(AdWertAccHoch < -1) |
325 | else if(AdWertAccHoch < -1) |
326 | { |
326 | { |
327 | if(NeutralAccZ > 550) |
327 | if(NeutralAccZ > 550) |
328 | { |
328 | { |
329 | NeutralAccZ-= 0.02; |
329 | NeutralAccZ-= 0.02; |
330 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
330 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
331 | } |
331 | } |
332 | } |
332 | } |
333 | messanzahl_AccHoch = 1; |
333 | messanzahl_AccHoch = 1; |
334 | Aktuell_az = ADC; |
334 | Aktuell_az = ADC; |
335 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
335 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
336 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
336 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
337 | kanal = AD_NICK; |
337 | kanal = AD_NICK; |
338 | break; |
338 | break; |
339 | case 7: |
339 | case 7: |
340 | nick1 += ADC; |
340 | nick1 += ADC; |
341 | kanal = AD_ROLL; |
341 | kanal = AD_ROLL; |
342 | break; |
342 | break; |
343 | case 8: |
343 | case 8: |
344 | roll1 += ADC; |
344 | roll1 += ADC; |
345 | kanal = AD_ACC_X; |
345 | kanal = AD_ACC_X; |
346 | break; |
346 | break; |
347 | case 9: |
347 | case 9: |
348 | Aktuell_ax = ADC - NeutralAccX; |
348 | Aktuell_ax = ADC - NeutralAccX; |
349 | accx = Aktuell_ax; |
349 | accx = Aktuell_ax; |
350 | kanal = AD_GIER; |
350 | kanal = AD_GIER; |
351 | break; |
351 | break; |
352 | case 10: |
352 | case 10: |
353 | gier1 += ADC; |
353 | gier1 += ADC; |
354 | kanal = AD_NICK; |
354 | kanal = AD_NICK; |
355 | break; |
355 | break; |
356 | case 11: |
356 | case 11: |
357 | nick1 += ADC; |
357 | nick1 += ADC; |
358 | kanal = AD_ROLL; |
358 | kanal = AD_ROLL; |
359 | break; |
359 | break; |
360 | case 12: |
360 | case 12: |
361 | roll1 += ADC; |
361 | roll1 += ADC; |
362 | kanal = AD_UBAT; |
362 | kanal = AD_UBAT; |
363 | break; |
363 | break; |
364 | case 13: |
364 | case 13: |
365 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
365 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
366 | kanal = AD_ACC_Y; |
366 | kanal = AD_ACC_Y; |
367 | break; |
367 | break; |
368 | case 14: |
368 | case 14: |
369 | Aktuell_ay = NeutralAccY - ADC; |
369 | Aktuell_ay = NeutralAccY - ADC; |
370 | accy += Aktuell_ay; |
370 | accy += Aktuell_ay; |
371 | kanal = AD_NICK; |
371 | kanal = AD_NICK; |
372 | break; |
372 | break; |
373 | case 15: |
373 | case 15: |
374 | nick1 += ADC; |
374 | nick1 += ADC; |
375 | kanal = AD_ROLL; |
375 | kanal = AD_ROLL; |
376 | break; |
376 | break; |
377 | case 16: |
377 | case 16: |
378 | roll1 += ADC; |
378 | roll1 += ADC; |
379 | kanal = AD_ACC_X; |
379 | kanal = AD_ACC_X; |
380 | break; |
380 | break; |
381 | case 17: |
381 | case 17: |
382 | Aktuell_ax = ADC - NeutralAccX; |
382 | Aktuell_ax = ADC - NeutralAccX; |
383 | accx += Aktuell_ax; |
383 | accx += Aktuell_ax; |
384 | kanal = AD_NICK; |
384 | kanal = AD_NICK; |
385 | break; |
385 | break; |
386 | case 18: |
386 | case 18: |
387 | nick1 += ADC; |
387 | nick1 += ADC; |
388 | kanal = AD_ROLL; |
388 | kanal = AD_ROLL; |
389 | break; |
389 | break; |
390 | case 19: |
390 | case 19: |
391 | roll1 += ADC; |
391 | roll1 += ADC; |
392 | kanal = AD_GIER; |
392 | kanal = AD_GIER; |
393 | break; |
393 | break; |
394 | case 20: |
394 | case 20: |
395 | gier1 += ADC; |
395 | gier1 += ADC; |
396 | kanal = AD_ACC_Y; |
396 | kanal = AD_ACC_Y; |
397 | break; |
397 | break; |
398 | case 21: |
398 | case 21: |
399 | Aktuell_ay = NeutralAccY - ADC; |
399 | Aktuell_ay = NeutralAccY - ADC; |
400 | accy += Aktuell_ay; |
400 | accy += Aktuell_ay; |
401 | kanal = AD_NICK; |
401 | kanal = AD_NICK; |
402 | break; |
402 | break; |
403 | case 22: |
403 | case 22: |
404 | nick1 += ADC; |
404 | nick1 += ADC; |
405 | kanal = AD_ROLL; |
405 | kanal = AD_ROLL; |
406 | break; |
406 | break; |
407 | case 23: |
407 | case 23: |
408 | roll1 += ADC; |
408 | roll1 += ADC; |
409 | kanal = AD_DRUCK; |
409 | kanal = AD_DRUCK; |
410 | break; |
410 | break; |
411 | case 24: |
411 | case 24: |
412 | tmpLuftdruck += ADC; |
412 | tmpLuftdruck += ADC; |
413 | if(++messanzahl_Druck >= 5) |
413 | if(++messanzahl_Druck >= 5) |
414 | { |
414 | { |
415 | MessLuftdruck = ADC; |
415 | MessLuftdruck = ADC; |
416 | messanzahl_Druck = 0; |
416 | messanzahl_Druck = 0; |
417 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
417 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
418 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
418 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
419 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
419 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
420 | tmpLuftdruck = 0; |
420 | tmpLuftdruck = 0; |
421 | } |
421 | } |
422 | kanal = AD_NICK; |
422 | kanal = AD_NICK; |
423 | break; |
423 | break; |
424 | case 25: |
424 | case 25: |
425 | nick1 += ADC; |
425 | nick1 += ADC; |
426 | kanal = AD_ROLL; |
426 | kanal = AD_ROLL; |
427 | break; |
427 | break; |
428 | case 26: |
428 | case 26: |
429 | roll1 += ADC; |
429 | roll1 += ADC; |
430 | kanal = AD_ACC_X; |
430 | kanal = AD_ACC_X; |
431 | break; |
431 | break; |
432 | case 27: |
432 | case 27: |
433 | Aktuell_ax = ADC - NeutralAccX; |
433 | Aktuell_ax = ADC - NeutralAccX; |
434 | accx += Aktuell_ax; |
434 | accx += Aktuell_ax; |
435 | kanal = AD_GIER; |
435 | kanal = AD_GIER; |
436 | break; |
436 | break; |
437 | case 28: |
437 | case 28: |
438 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
438 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
439 | else |
439 | else |
440 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
440 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
441 | else AdWertGier = (ADC + gier1 + 1) / 2; |
441 | else AdWertGier = (ADC + gier1 + 1) / 2; |
442 | kanal = AD_NICK; |
442 | kanal = AD_NICK; |
443 | break; |
443 | break; |
444 | case 29: |
444 | case 29: |
445 | nick1 += ADC; |
445 | nick1 += ADC; |
446 | kanal = AD_ROLL; |
446 | kanal = AD_ROLL; |
447 | break; |
447 | break; |
448 | case 30: |
448 | case 30: |
449 | roll1 += ADC; |
449 | roll1 += ADC; |
450 | kanal = AD_ACC_Y; |
450 | kanal = AD_ACC_Y; |
451 | break; |
451 | break; |
452 | case 31: |
452 | case 31: |
453 | Aktuell_ay = NeutralAccY - ADC; |
453 | Aktuell_ay = NeutralAccY - ADC; |
454 | AdWertAccRoll = (Aktuell_ay + accy); |
454 | AdWertAccRoll = (Aktuell_ay + accy); |
455 | kanal = AD_NICK; |
455 | kanal = AD_NICK; |
456 | break; |
456 | break; |
457 | case 32: |
457 | case 32: |
458 | AdWertNick = (ADC + nick1 + 3) / 5; |
458 | AdWertNick = (ADC + nick1 + 3) / 5; |
459 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
459 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
460 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
460 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
461 | HiResNick = nick_filter - 20 * AdNeutralNick; |
461 | HiResNick = nick_filter - 20 * AdNeutralNick; |
462 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
462 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
463 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
463 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
464 | kanal = AD_ROLL; |
464 | kanal = AD_ROLL; |
465 | break; |
465 | break; |
466 | case 33: |
466 | case 33: |
467 | AdWertRoll = (ADC + roll1 + 3) / 5; |
467 | AdWertRoll = (ADC + roll1 + 3) / 5; |
468 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
468 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
469 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
469 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
470 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
470 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
471 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
471 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
472 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
472 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
473 | kanal = AD_ACC_X; |
473 | kanal = AD_ACC_X; |
474 | break; |
474 | break; |
475 | case 34: |
475 | case 34: |
476 | Aktuell_ax = ADC - NeutralAccX; |
476 | Aktuell_ax = ADC - NeutralAccX; |
477 | AdWertAccNick = (Aktuell_ax + accx); |
477 | AdWertAccNick = (Aktuell_ax + accx); |
478 | kanal = AD_NICK; |
478 | kanal = AD_NICK; |
479 | state = 0; |
479 | state = 0; |
480 | AdReady = 1; |
480 | AdReady = 1; |
481 | ZaehlMessungen++; |
481 | ZaehlMessungen++; |
482 | break; |
482 | break; |
483 | default: |
483 | default: |
484 | kanal = 0; |
484 | kanal = 0; |
485 | state = 0; |
485 | state = 0; |
486 | break; |
486 | break; |
487 | } |
487 | } |
488 | ADMUX = kanal; |
488 | ADMUX = kanal; |
489 | if(state != 0) ANALOG_ON; |
489 | if(state != 0) ANALOG_ON; |
490 | } |
490 | } |
491 | */ |
491 | */ |
492 | 492 |