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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 | volatile unsigned char AdReady = 1; |
26 | volatile unsigned char AdReady = 1; |
27 | float NeutralAccZ_float; |
27 | // float NeutralAccZ_float; // MartinR : wozu ?? |
28 | //####################################################################################### |
28 | //####################################################################################### |
29 | // |
29 | // |
30 | void ADC_Init(void) |
30 | void ADC_Init(void) |
31 | //####################################################################################### |
31 | //####################################################################################### |
32 | { |
32 | { |
33 | ADMUX = 0;//Referenz ist extern |
33 | ADMUX = 0;//Referenz ist extern |
34 | ANALOG_ON; |
34 | ANALOG_ON; |
35 | } |
35 | } |
36 | 36 | ||
37 | #define DESIRED_H_ADC 800 |
37 | #define DESIRED_H_ADC 800 |
38 | 38 | ||
39 | void SucheLuftruckOffset(void) |
39 | void SucheLuftruckOffset(void) |
40 | { |
40 | { |
41 | unsigned int off; |
41 | unsigned int off; |
42 | off = GetParamByte(PID_PRESSURE_OFFSET); |
42 | off = GetParamByte(PID_PRESSURE_OFFSET); |
43 | if(off > 20) off -= 10; |
43 | if(off > 20) off -= 10; |
44 | OCR0A = off; |
44 | OCR0A = off; |
45 | ExpandBaro = 0; |
45 | ExpandBaro = 0; |
46 | Delay_ms_Mess(100); |
46 | Delay_ms_Mess(100); |
47 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
47 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; |
48 | for(; off < 250;off++) |
48 | for(; off < 250;off++) |
49 | { |
49 | { |
50 | OCR0A = off; |
50 | OCR0A = off; |
51 | Delay_ms_Mess(50); |
51 | Delay_ms_Mess(50); |
52 | printf("."); |
52 | printf("."); |
53 | if(MessLuftdruck < DESIRED_H_ADC) break; |
53 | if(MessLuftdruck < DESIRED_H_ADC) break; |
54 | } |
54 | } |
55 | SetParamByte(PID_PRESSURE_OFFSET, off); |
55 | SetParamByte(PID_PRESSURE_OFFSET, off); |
56 | DruckOffsetSetting = off; |
56 | DruckOffsetSetting = off; |
57 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= DEFEKT_PRESSURE; |
57 | if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= DEFEKT_PRESSURE; |
58 | OCR0A = off; |
58 | OCR0A = off; |
59 | Delay_ms_Mess(300); |
59 | Delay_ms_Mess(300); |
60 | } |
60 | } |
61 | 61 | ||
62 | void SucheGyroOffset(void) |
62 | void SucheGyroOffset(void) |
63 | { |
63 | { |
64 | unsigned char i, ready = 0; |
64 | unsigned char i, ready = 0; |
65 | int timeout; |
65 | int timeout; |
66 | timeout = SetDelay(2000); |
66 | timeout = SetDelay(2000); |
67 | for(i=140; i != 0; i--) |
67 | for(i=140; i != 0; i--) |
68 | { |
68 | { |
69 | if(ready == 3 && i > 10) i = 9; |
69 | if(ready == 3 && i > 10) i = 9; |
70 | ready = 0; |
70 | ready = 0; |
71 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
71 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
72 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
72 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
73 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
73 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
74 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
74 | I2C_Start(TWI_STATE_GYRO_OFFSET_TX); |
75 | if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 245;}; |
75 | if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 245;}; |
76 | if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;}; |
76 | if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;}; |
77 | if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 245;}; |
77 | if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 245;}; |
78 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
78 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
79 | AdReady = 0; |
79 | AdReady = 0; |
80 | ANALOG_ON; |
80 | ANALOG_ON; |
81 | while(!AdReady); |
81 | while(!AdReady); |
82 | if(i<10) Delay_ms_Mess(10); |
82 | if(i<10) Delay_ms_Mess(10); |
83 | } |
83 | } |
84 | Delay_ms_Mess(70); |
84 | Delay_ms_Mess(70); |
85 | } |
85 | } |
86 | 86 | ||
87 | /* |
87 | /* |
88 | 0 n |
88 | 0 n |
89 | 1 r |
89 | 1 r |
90 | 2 g |
90 | 2 g |
91 | 3 y |
91 | 3 y |
92 | 4 x |
92 | 4 x |
93 | 5 n |
93 | 5 n |
94 | 6 r |
94 | 6 r |
95 | 7 u |
95 | 7 u |
96 | 8 z |
96 | 8 z |
97 | 9 L |
97 | 9 L |
98 | 10 n |
98 | 10 n |
99 | 11 r |
99 | 11 r |
100 | 12 g |
100 | 12 g |
101 | 13 y |
101 | 13 y |
102 | 14 x |
102 | 14 x |
103 | 15 n |
103 | 15 n |
104 | 16 r |
104 | 16 r |
105 | 17 L |
105 | 17 L |
106 | */ |
106 | */ |
107 | 107 | ||
108 | //####################################################################################### |
108 | //####################################################################################### |
109 | // |
109 | // |
110 | ISR(ADC_vect) |
110 | ISR(ADC_vect) |
111 | //####################################################################################### |
111 | //####################################################################################### |
112 | { |
112 | { |
113 | static unsigned char kanal=0,state = 0; |
113 | static unsigned char kanal=0,state = 0; |
114 | static signed char subcount = 0; |
114 | // static signed char subcount = 0; |
115 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
115 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
116 | static signed int accy, accx; |
116 | static signed int accy, accx; |
117 | static long tmpLuftdruck = 0; |
117 | static long tmpLuftdruck = 0; |
118 | static char messanzahl_Druck = 0; |
118 | static char messanzahl_Druck = 0; |
119 | switch(state++) |
119 | switch(state++) |
120 | { |
120 | { |
121 | case 0: |
121 | case 0: |
122 | nick1 = ADC; |
122 | nick1 = ADC; |
123 | kanal = AD_ROLL; |
123 | kanal = AD_ROLL; |
124 | break; |
124 | break; |
125 | case 1: |
125 | case 1: |
126 | roll1 = ADC; |
126 | roll1 = ADC; |
127 | kanal = AD_GIER; |
127 | kanal = AD_GIER; |
128 | break; |
128 | break; |
129 | case 2: |
129 | case 2: |
130 | gier1 = ADC; |
130 | gier1 = ADC; |
131 | kanal = AD_ACC_Y; |
131 | kanal = AD_ACC_Y; |
132 | break; |
132 | break; |
133 | case 3: |
133 | case 3: |
134 | Aktuell_ay = NeutralAccY - ADC; |
134 | Aktuell_ay = NeutralAccY - ADC; |
135 | accy = Aktuell_ay; |
135 | accy = Aktuell_ay; |
136 | kanal = AD_ACC_X; |
136 | kanal = AD_ACC_X; |
137 | break; |
137 | break; |
138 | case 4: |
138 | case 4: |
139 | Aktuell_ax = ADC - NeutralAccX; |
139 | Aktuell_ax = ADC - NeutralAccX; |
140 | accx = Aktuell_ax; |
140 | accx = Aktuell_ax; |
141 | kanal = AD_NICK; |
141 | kanal = AD_NICK; |
142 | break; |
142 | break; |
143 | case 5: |
143 | case 5: |
144 | nick1 += ADC; |
144 | nick1 += ADC; |
145 | kanal = AD_ROLL; |
145 | kanal = AD_ROLL; |
146 | break; |
146 | break; |
147 | case 6: |
147 | case 6: |
148 | roll1 += ADC; |
148 | roll1 += ADC; |
149 | kanal = AD_UBAT; |
149 | kanal = AD_UBAT; |
150 | break; |
150 | break; |
151 | case 7: |
151 | case 7: |
152 | UBat = (3 * UBat + ADC / 3) / 4; |
152 | UBat = (3 * UBat + ADC / 3) / 4; |
153 | kanal = AD_ACC_Z; |
153 | kanal = AD_ACC_Z; |
154 | break; |
154 | break; |
155 | case 8: |
155 | case 8: |
156 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
156 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
- | 157 | ||
- | 158 | /* // MartinR: deaktivieren ???? |
|
- | 159 | |
|
157 | if(AdWertAccHoch > 1) |
160 | if(AdWertAccHoch > 1) |
158 | { |
161 | { |
159 | if(NeutralAccZ < 750) |
162 | if(NeutralAccZ < 750) |
160 | { |
163 | { |
161 | subcount += 5; |
164 | subcount += 5; |
162 | if(modell_fliegt < 500) subcount += 10; |
165 | if(modell_fliegt < 500) subcount += 10; |
163 | } |
166 | } |
164 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
167 | if(subcount > 100) { NeutralAccZ++; subcount -= 100;} |
165 | } |
168 | } |
166 | else if(AdWertAccHoch < -1) |
169 | else if(AdWertAccHoch < -1) |
167 | { |
170 | { |
168 | if(NeutralAccZ > 550) |
171 | if(NeutralAccZ > 550) |
169 | { |
172 | { |
170 | subcount -= 5; |
173 | subcount -= 5; |
171 | if(modell_fliegt < 500) subcount -= 10; |
174 | if(modell_fliegt < 500) subcount -= 10; |
172 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
175 | if(subcount < -100) { NeutralAccZ--; subcount += 100;} |
173 | } |
176 | } |
174 | } |
177 | } |
- | 178 | |
|
- | 179 | */ // MartinR: deaktivieren Ende |
|
- | 180 | ||
- | 181 | ||
175 | messanzahl_AccHoch = 1; |
182 | messanzahl_AccHoch = 1; |
176 | Aktuell_az = ADC; |
183 | Aktuell_az = ADC; |
177 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
184 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
178 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
185 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
179 | kanal = AD_DRUCK; |
186 | kanal = AD_DRUCK; |
180 | break; |
187 | break; |
181 | // "case 9:" fehlt hier absichtlich |
188 | // "case 9:" fehlt hier absichtlich |
182 | case 10: |
189 | case 10: |
183 | nick1 += ADC; |
190 | nick1 += ADC; |
184 | kanal = AD_ROLL; |
191 | kanal = AD_ROLL; |
185 | break; |
192 | break; |
186 | case 11: |
193 | case 11: |
187 | roll1 += ADC; |
194 | roll1 += ADC; |
188 | kanal = AD_GIER; |
195 | kanal = AD_GIER; |
189 | break; |
196 | break; |
190 | case 12: |
197 | case 12: |
191 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
198 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
192 | else |
199 | else |
193 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
200 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
194 | else AdWertGier = (ADC + gier1); |
201 | else AdWertGier = (ADC + gier1); |
195 | kanal = AD_ACC_Y; |
202 | kanal = AD_ACC_Y; |
196 | break; |
203 | break; |
197 | case 13: |
204 | case 13: |
198 | Aktuell_ay = NeutralAccY - ADC; |
205 | Aktuell_ay = NeutralAccY - ADC; |
199 | AdWertAccRoll = (Aktuell_ay + accy); |
206 | AdWertAccRoll = (Aktuell_ay + accy); |
200 | kanal = AD_ACC_X; |
207 | kanal = AD_ACC_X; |
201 | break; |
208 | break; |
202 | case 14: |
209 | case 14: |
203 | Aktuell_ax = ADC - NeutralAccX; |
210 | Aktuell_ax = ADC - NeutralAccX; |
204 | AdWertAccNick = (Aktuell_ax + accx); |
211 | AdWertAccNick = (Aktuell_ax + accx); |
205 | kanal = AD_NICK; |
212 | kanal = AD_NICK; |
206 | break; |
213 | break; |
207 | case 15: |
214 | case 15: |
208 | nick1 += ADC; |
215 | nick1 += ADC; |
209 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
216 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
210 | AdWertNick = nick1 / 8; |
217 | AdWertNick = nick1 / 8; |
211 | nick_filter = (nick_filter + nick1) / 2; |
218 | nick_filter = (nick_filter + nick1) / 2; |
212 | HiResNick = nick_filter - AdNeutralNick; |
219 | HiResNick = nick_filter - AdNeutralNick; |
213 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
220 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
214 | kanal = AD_ROLL; |
221 | kanal = AD_ROLL; |
215 | break; |
222 | break; |
216 | case 16: |
223 | case 16: |
217 | roll1 += ADC; |
224 | roll1 += ADC; |
218 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
225 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
219 | AdWertRoll = roll1 / 8; |
226 | AdWertRoll = roll1 / 8; |
220 | roll_filter = (roll_filter + roll1) / 2; |
227 | roll_filter = (roll_filter + roll1) / 2; |
221 | HiResRoll = roll_filter - AdNeutralRoll; |
228 | HiResRoll = roll_filter - AdNeutralRoll; |
222 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
229 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
223 | kanal = AD_DRUCK; |
230 | kanal = AD_DRUCK; |
224 | break; |
231 | break; |
225 | case 17: |
232 | case 17: |
226 | state = 0; |
233 | state = 0; |
227 | AdReady = 1; |
234 | AdReady = 1; |
228 | ZaehlMessungen++; |
235 | ZaehlMessungen++; |
229 | // "break" fehlt hier absichtlich |
236 | // "break" fehlt hier absichtlich |
230 | case 9: |
237 | case 9: |
231 | MessLuftdruck = ADC; |
238 | MessLuftdruck = ADC; |
232 | tmpLuftdruck += MessLuftdruck; |
239 | tmpLuftdruck += MessLuftdruck; |
233 | if(++messanzahl_Druck >= 18) |
240 | if(++messanzahl_Druck >= 18) |
234 | { |
241 | { |
235 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
242 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
236 | HoehenWert = StartLuftdruck - Luftdruck; |
243 | HoehenWert = StartLuftdruck - Luftdruck; |
237 | SummenHoehe -= SummenHoehe/SM_FILTER; |
244 | SummenHoehe -= SummenHoehe/SM_FILTER; |
238 | SummenHoehe += HoehenWert; |
245 | SummenHoehe += HoehenWert; |
239 | VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
246 | VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32; |
240 | tmpLuftdruck /= 2; |
247 | tmpLuftdruck /= 2; |
241 | messanzahl_Druck = 18/2; |
248 | messanzahl_Druck = 18/2; |
242 | } |
249 | } |
243 | kanal = AD_NICK; |
250 | kanal = AD_NICK; |
244 | break; |
251 | break; |
245 | default: |
252 | default: |
246 | kanal = 0; state = 0; kanal = AD_NICK; |
253 | kanal = 0; state = 0; kanal = AD_NICK; |
247 | break; |
254 | break; |
248 | } |
255 | } |
249 | ADMUX = kanal; |
256 | ADMUX = kanal; |
250 | if(state != 0) ANALOG_ON; |
257 | if(state != 0) ANALOG_ON; |
251 | } |
258 | } |
252 | 259 | ||
253 | 260 |