WebSVN - FlightCtrl - Diff - Rev 1738 and 1757 - /branches/V0.80g_ACC-HH_MartinR


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + Copyright (c) Holger Buss, Ingo Busker
// + only for non-profit use
// + www.MikroKopter.com
// + porting the sources to other systems or using the software on other systems (except hardware from www.mikrokopter.de) is not allowed
// + see the File "License.txt" for further Informations
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
 
#include "main.h"
#include "eeprom.h"
volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
volatile int  AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0;
volatile int  HiResNick = 2500, HiResRoll = 2500;
volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
volatile char messanzahl_AccHoch = 0;
volatile long Luftdruck = 32000;
volatile long SummenHoehe = 0;
volatile int  StartLuftdruck;
volatile unsigned int  MessLuftdruck = 1023;
unsigned char DruckOffsetSetting;
signed char ExpandBaro = 0;
volatile int VarioMeter = 0;
volatile unsigned int ZaehlMessungen = 0;
unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
volatile unsigned char AdReady = 1;
//float NeutralAccZ_float; // MartinR : wozu ?
//#######################################################################################
//
void ADC_Init(void)
//#######################################################################################
{
    ADMUX = 0;//Referenz ist extern
    ANALOG_ON;
}
 
#define DESIRED_H_ADC 800
 
void SucheLuftruckOffset(void)
{
 unsigned int off;
 ExpandBaro = 0;
 
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
 {
  unsigned char off2;
  OCR0A = 150;
  off2 = GetParamByte(PID_PRESSURE_OFFSET);
  if(off2 < 230) off2 += 10;
  OCR0B = off2;
  Delay_ms_Mess(100);
  if(MessLuftdruck > DESIRED_H_ADC) off2 = 240;
  for(; off2 >= 5; off2 -= 5)
   {
   OCR0B = off2;
   Delay_ms_Mess(50);
   printf("*");
   if(MessLuftdruck > DESIRED_H_ADC) break;
   }
   SetParamByte(PID_PRESSURE_OFFSET, off2);
  if(off2 >= 15) off = 140; else off = 0;
  for(; off < 250;off++)
   {
   OCR0A = off;
   Delay_ms_Mess(50);
   printf(".");
   if(MessLuftdruck < DESIRED_H_ADC) break;
   }
   DruckOffsetSetting = off;
 }
#else 
  off = GetParamByte(PID_PRESSURE_OFFSET);
  if(off > 20) off -= 10;
  OCR0A = off;
  Delay_ms_Mess(100);
  if(MessLuftdruck < DESIRED_H_ADC) off = 0;
  for(; off < 250;off++)
   {
   OCR0A = off;
   Delay_ms_Mess(50);
   printf(".");
   if(MessLuftdruck < DESIRED_H_ADC) break;
   }
   DruckOffsetSetting = off;
   SetParamByte(PID_PRESSURE_OFFSET, off);
#endif
 if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 || DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] |= DEFEKT_PRESSURE;
 OCR0A = off;
 Delay_ms_Mess(300);
}
 
 
void SucheGyroOffset(void)
{
 unsigned char i, ready = 0;
 int timeout;
 timeout = SetDelay(2000);
 for(i=140; i != 0; i--)
  {
   if(ready == 3 && i > 10) i = 9;
   ready = 0;
   if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
   if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
   if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
   I2C_Start(TWI_STATE_GYRO_OFFSET_TX);
   if(AnalogOffsetNick < 10)  { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_NICK; AnalogOffsetNick = 245;};
   if(AnalogOffsetRoll < 10)  { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;};
   if(AnalogOffsetGier < 10)  { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= DEFEKT_G_GIER; AnalogOffsetGier = 245;};
   while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
   AdReady = 0;
   ANALOG_ON;
   while(!AdReady);
   if(i<10) Delay_ms_Mess(10);
  }
   Delay_ms_Mess(70);
}
 
/*
0  n
1  r
2     g
3     y
4     x
5  n
6  r
7     u
8     z
9     L
10 n
11 r
12    g
13    y
14    x
15 n
16 r
17    L
*/
 
//#######################################################################################
//
ISR(ADC_vect)
//#######################################################################################
{
    static unsigned char kanal=0,state = 0;
        //static signed char subcount = 0; // MartinR: wird nicht mehr benötigt, da deaktiviert
    static signed int gier1, roll1, nick1, nick_filter, roll_filter;
        static signed int accy, accx;
        static long tmpLuftdruck = 0;
        static char messanzahl_Druck = 0;
    switch(state++)
        {
        case 0:
            nick1 = ADC;
            kanal = AD_ROLL;
            break;
        case 1:
            roll1 = ADC;
                    kanal = AD_GIER;
            break;
        case 2:
            gier1 = ADC;
            kanal = AD_ACC_Y;
            break;
        case 3:
            Aktuell_ay = NeutralAccY - ADC;
            accy = Aktuell_ay;
                    kanal = AD_ACC_X;
            break;
        case 4:
            Aktuell_ax = ADC - NeutralAccX;
            accx =  Aktuell_ax;
            kanal = AD_NICK;
            break;
        case 5:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 6:
            roll1 += ADC;
            kanal = AD_UBAT;
            break;
        case 7:
            UBat = (3 * UBat + ADC / 3) / 4;
                    kanal = AD_ACC_Z;
            break;
       case 8:
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
                       
                        /*  // MartinR: deaktivieren Anfang
                       
            if(AdWertAccHoch > 1)
             {
              if(NeutralAccZ < 750)
               {
                subcount += 5;
                if(modell_fliegt < 500) subcount += 10;
               }
              if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
             }
             else if(AdWertAccHoch < -1)
             {
              if(NeutralAccZ > 550)
                {
                 subcount -= 5;
                 if(modell_fliegt < 500) subcount -= 10;
                 if(subcount < -100) { NeutralAccZ--; subcount += 100;}
                }
             }
                         
                         */ // MartinR: deaktivieren Ende
                         
            messanzahl_AccHoch = 1;
            Aktuell_az = ADC;
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
                kanal = AD_DRUCK;
            break;
   // "case 9:" fehlt hier absichtlich
        case 10:
            nick1 += ADC;
            kanal = AD_ROLL;
            break;
        case 11:
            roll1 += ADC;
                    kanal = AD_GIER;
            break;
        case 12:
            if(PlatinenVersion == 10)  AdWertGier = (ADC + gier1 + 1) / 2;
            else
            if(PlatinenVersion >= 20)  AdWertGier = 2047 - (ADC + gier1);
                        else                                       AdWertGier = (ADC + gier1);
            kanal = AD_ACC_Y;
            break;
        case 13:
            Aktuell_ay = NeutralAccY - ADC;
            AdWertAccRoll = (Aktuell_ay + accy);
            kanal = AD_ACC_X;
            break;
        case 14:
            Aktuell_ax = ADC - NeutralAccX;
            AdWertAccNick =  (Aktuell_ax + accx);
            kanal = AD_NICK;
            break;
        case 15:
            nick1 += ADC;
            if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4;
            AdWertNick = nick1 / 8;
            nick_filter = (nick_filter + nick1) / 2;
                        //HiResNick = nick_filter - AdNeutralNick; // MartinR: so war es
                        HiResNick = (nick_filter - AdNeutralNick + 4 ) / 8 ; // MartinR: + 4um Rundungsfehler zu verbessern
                        // MartinR: /8 von fc.c nach hier verschoben um Code zu sparen
            AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
            kanal = AD_ROLL;
            break;
        case 16:
            roll1 += ADC;
            if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4;
            AdWertRoll = roll1 / 8;
            roll_filter = (roll_filter + roll1) / 2;
            HiResRoll = roll_filter - AdNeutralRoll; // MartinR: so war es
                        HiResRoll = (roll_filter - AdNeutralRoll + 4 ) / 8; // MartinR: + 4um Rundungsfehler zu verbessern
                        // MartinR: /8 von fc.c nach hier verschoben um Code zu sparen
            AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
                kanal = AD_DRUCK;
            break;
        case 17:
            state = 0;
                        AdReady = 1;
            ZaehlMessungen++;
            // "break" fehlt hier absichtlich
        case 9:
                //MessLuftdruck = ADC; // MartinR: so war es
                        MessLuftdruck = ADC + ((Parameter_UserParam4 * AdWertAccHoch) / 256) ; // MartinR: 
                        // mit Korrektur der Beschleunigungsempfindlichkeit des Luftdrucksensors
            tmpLuftdruck += MessLuftdruck;
            if(++messanzahl_Druck >= 18)
            {
                                Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8;  // -523.19 counts per 10 counts offset step
                                HoehenWert = StartLuftdruck - Luftdruck;
                                SummenHoehe -= SummenHoehe/SM_FILTER;
                                SummenHoehe += HoehenWert;
                                VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;
                tmpLuftdruck /= 2;
                messanzahl_Druck = 18/2;
            }
            kanal = AD_NICK;
            break;
        default:
            kanal = 0; state = 0; kanal = AD_NICK;
            break;
        }
    ADMUX = kanal;
    if(state != 0) ANALOG_ON;
}
 
 

Rev 1738	Rev 1757
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; // MartinR : wozu ?	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	ExpandBaro = 0;	42	ExpandBaro = 0;
43		43
44	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	44	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
45	{	45	{
46	unsigned char off2;	46	unsigned char off2;
47	OCR0A = 150;	47	OCR0A = 150;
48	off2 = GetParamByte(PID_PRESSURE_OFFSET);	48	off2 = GetParamByte(PID_PRESSURE_OFFSET);
49	if(off2 < 230) off2 += 10;	49	if(off2 < 230) off2 += 10;
50	OCR0B = off2;	50	OCR0B = off2;
51	Delay_ms_Mess(100);	51	Delay_ms_Mess(100);
52	if(MessLuftdruck > DESIRED_H_ADC) off2 = 240;	52	if(MessLuftdruck > DESIRED_H_ADC) off2 = 240;
53	for(; off2 >= 5; off2 -= 5)	53	for(; off2 >= 5; off2 -= 5)
54	{	54	{
55	OCR0B = off2;	55	OCR0B = off2;
56	Delay_ms_Mess(50);	56	Delay_ms_Mess(50);
57	printf("*");	57	printf("*");
58	if(MessLuftdruck > DESIRED_H_ADC) break;	58	if(MessLuftdruck > DESIRED_H_ADC) break;
59	}	59	}
60	SetParamByte(PID_PRESSURE_OFFSET, off2);	60	SetParamByte(PID_PRESSURE_OFFSET, off2);
61	if(off2 >= 15) off = 140; else off = 0;	61	if(off2 >= 15) off = 140; else off = 0;
62	for(; off < 250;off++)	62	for(; off < 250;off++)
63	{	63	{
64	OCR0A = off;	64	OCR0A = off;
65	Delay_ms_Mess(50);	65	Delay_ms_Mess(50);
66	printf(".");	66	printf(".");
67	if(MessLuftdruck < DESIRED_H_ADC) break;	67	if(MessLuftdruck < DESIRED_H_ADC) break;
68	}	68	}
69	DruckOffsetSetting = off;	69	DruckOffsetSetting = off;
70	}	70	}
71	#else	71	#else
72	off = GetParamByte(PID_PRESSURE_OFFSET);	72	off = GetParamByte(PID_PRESSURE_OFFSET);
73	if(off > 20) off -= 10;	73	if(off > 20) off -= 10;
74	OCR0A = off;	74	OCR0A = off;
75	Delay_ms_Mess(100);	75	Delay_ms_Mess(100);
76	if(MessLuftdruck < DESIRED_H_ADC) off = 0;	76	if(MessLuftdruck < DESIRED_H_ADC) off = 0;
77	for(; off < 250;off++)	77	for(; off < 250;off++)
78	{	78	{
79	OCR0A = off;	79	OCR0A = off;
80	Delay_ms_Mess(50);	80	Delay_ms_Mess(50);
81	printf(".");	81	printf(".");
82	if(MessLuftdruck < DESIRED_H_ADC) break;	82	if(MessLuftdruck < DESIRED_H_ADC) break;
83	}	83	}
84	DruckOffsetSetting = off;	84	DruckOffsetSetting = off;
85	SetParamByte(PID_PRESSURE_OFFSET, off);	85	SetParamByte(PID_PRESSURE_OFFSET, off);
86	#endif	86	#endif
87	if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 \|\| DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] \|= DEFEKT_PRESSURE;	87	if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 \|\| DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] \|= DEFEKT_PRESSURE;
88	OCR0A = off;	88	OCR0A = off;
89	Delay_ms_Mess(300);	89	Delay_ms_Mess(300);
90	}	90	}
91		91
92		92
93	void SucheGyroOffset(void)	93	void SucheGyroOffset(void)
94	{	94	{
95	unsigned char i, ready = 0;	95	unsigned char i, ready = 0;
96	int timeout;	96	int timeout;
97	timeout = SetDelay(2000);	97	timeout = SetDelay(2000);
98	for(i=140; i != 0; i--)	98	for(i=140; i != 0; i--)
99	{	99	{
100	if(ready == 3 && i > 10) i = 9;	100	if(ready == 3 && i > 10) i = 9;
101	ready = 0;	101	ready = 0;
102	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	102	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
103	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	103	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
104	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	104	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
105	I2C_Start(TWI_STATE_GYRO_OFFSET_TX);	105	I2C_Start(TWI_STATE_GYRO_OFFSET_TX);
106	if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_NICK; AnalogOffsetNick = 245;};	106	if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_NICK; AnalogOffsetNick = 245;};
107	if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;};	107	if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_ROLL; AnalogOffsetRoll = 245;};
108	if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_GIER; AnalogOffsetGier = 245;};	108	if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] \|= DEFEKT_G_GIER; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] \|= DEFEKT_G_GIER; AnalogOffsetGier = 245;};
109	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}	109	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
110	AdReady = 0;	110	AdReady = 0;
111	ANALOG_ON;	111	ANALOG_ON;
112	while(!AdReady);	112	while(!AdReady);
113	if(i<10) Delay_ms_Mess(10);	113	if(i<10) Delay_ms_Mess(10);
114	}	114	}
115	Delay_ms_Mess(70);	115	Delay_ms_Mess(70);
116	}	116	}
117		117
118	/*	118	/*
119	0 n	119	0 n
120	1 r	120	1 r
121	2 g	121	2 g
122	3 y	122	3 y
123	4 x	123	4 x
124	5 n	124	5 n
125	6 r	125	6 r
126	7 u	126	7 u
127	8 z	127	8 z
128	9 L	128	9 L
129	10 n	129	10 n
130	11 r	130	11 r
131	12 g	131	12 g
132	13 y	132	13 y
133	14 x	133	14 x
134	15 n	134	15 n
135	16 r	135	16 r
136	17 L	136	17 L
137	*/	137	*/
138		138
139	//#######################################################################################	139	//#######################################################################################
140	//	140	//
141	ISR(ADC_vect)	141	ISR(ADC_vect)
142	//#######################################################################################	142	//#######################################################################################
143	{	143	{
144	static unsigned char kanal=0,state = 0;	144	static unsigned char kanal=0,state = 0;
145	//static signed char subcount = 0; // MartinR: wird nicht mehr benötigt, da deaktiviert	145	//static signed char subcount = 0; // MartinR: wird nicht mehr benötigt, da deaktiviert
146	static signed int gier1, roll1, nick1, nick_filter, roll_filter;	146	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
147	static signed int accy, accx;	147	static signed int accy, accx;
148	static long tmpLuftdruck = 0;	148	static long tmpLuftdruck = 0;
149	static char messanzahl_Druck = 0;	149	static char messanzahl_Druck = 0;
150	switch(state++)	150	switch(state++)
151	{	151	{
152	case 0:	152	case 0:
153	nick1 = ADC;	153	nick1 = ADC;
154	kanal = AD_ROLL;	154	kanal = AD_ROLL;
155	break;	155	break;
156	case 1:	156	case 1:
157	roll1 = ADC;	157	roll1 = ADC;
158	kanal = AD_GIER;	158	kanal = AD_GIER;
159	break;	159	break;
160	case 2:	160	case 2:
161	gier1 = ADC;	161	gier1 = ADC;
162	kanal = AD_ACC_Y;	162	kanal = AD_ACC_Y;
163	break;	163	break;
164	case 3:	164	case 3:
165	Aktuell_ay = NeutralAccY - ADC;	165	Aktuell_ay = NeutralAccY - ADC;
166	accy = Aktuell_ay;	166	accy = Aktuell_ay;
167	kanal = AD_ACC_X;	167	kanal = AD_ACC_X;
168	break;	168	break;
169	case 4:	169	case 4:
170	Aktuell_ax = ADC - NeutralAccX;	170	Aktuell_ax = ADC - NeutralAccX;
171	accx = Aktuell_ax;	171	accx = Aktuell_ax;
172	kanal = AD_NICK;	172	kanal = AD_NICK;
173	break;	173	break;
174	case 5:	174	case 5:
175	nick1 += ADC;	175	nick1 += ADC;
176	kanal = AD_ROLL;	176	kanal = AD_ROLL;
177	break;	177	break;
178	case 6:	178	case 6:
179	roll1 += ADC;	179	roll1 += ADC;
180	kanal = AD_UBAT;	180	kanal = AD_UBAT;
181	break;	181	break;
182	case 7:	182	case 7:
183	UBat = (3 * UBat + ADC / 3) / 4;	183	UBat = (3 * UBat + ADC / 3) / 4;
184	kanal = AD_ACC_Z;	184	kanal = AD_ACC_Z;
185	break;	185	break;
186	case 8:	186	case 8:
187	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	187	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
188		188
189	/* // MartinR: deaktivieren Anfang	189	/* // MartinR: deaktivieren Anfang
190		190
191	if(AdWertAccHoch > 1)	191	if(AdWertAccHoch > 1)
192	{	192	{
193	if(NeutralAccZ < 750)	193	if(NeutralAccZ < 750)
194	{	194	{
195	subcount += 5;	195	subcount += 5;
196	if(modell_fliegt < 500) subcount += 10;	196	if(modell_fliegt < 500) subcount += 10;
197	}	197	}
198	if(subcount > 100) { NeutralAccZ++; subcount -= 100;}	198	if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
199	}	199	}
200	else if(AdWertAccHoch < -1)	200	else if(AdWertAccHoch < -1)
201	{	201	{
202	if(NeutralAccZ > 550)	202	if(NeutralAccZ > 550)
203	{	203	{
204	subcount -= 5;	204	subcount -= 5;
205	if(modell_fliegt < 500) subcount -= 10;	205	if(modell_fliegt < 500) subcount -= 10;
206	if(subcount < -100) { NeutralAccZ--; subcount += 100;}	206	if(subcount < -100) { NeutralAccZ--; subcount += 100;}
207	}	207	}
208	}	208	}
209		209
210	*/ // MartinR: deaktivieren Ende	210	*/ // MartinR: deaktivieren Ende
211		211
212	messanzahl_AccHoch = 1;	212	messanzahl_AccHoch = 1;
213	Aktuell_az = ADC;	213	Aktuell_az = ADC;
214	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	214	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
215	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	215	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
216	kanal = AD_DRUCK;	216	kanal = AD_DRUCK;
217	break;	217	break;
218	// "case 9:" fehlt hier absichtlich	218	// "case 9:" fehlt hier absichtlich
219	case 10:	219	case 10:
220	nick1 += ADC;	220	nick1 += ADC;
221	kanal = AD_ROLL;	221	kanal = AD_ROLL;
222	break;	222	break;
223	case 11:	223	case 11:
224	roll1 += ADC;	224	roll1 += ADC;
225	kanal = AD_GIER;	225	kanal = AD_GIER;
226	break;	226	break;
227	case 12:	227	case 12:
228	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	228	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
229	else	229	else
230	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);	230	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);
231	else AdWertGier = (ADC + gier1);	231	else AdWertGier = (ADC + gier1);
232	kanal = AD_ACC_Y;	232	kanal = AD_ACC_Y;
233	break;	233	break;
234	case 13:	234	case 13:
235	Aktuell_ay = NeutralAccY - ADC;	235	Aktuell_ay = NeutralAccY - ADC;
236	AdWertAccRoll = (Aktuell_ay + accy);	236	AdWertAccRoll = (Aktuell_ay + accy);
237	kanal = AD_ACC_X;	237	kanal = AD_ACC_X;
238	break;	238	break;
239	case 14:	239	case 14:
240	Aktuell_ax = ADC - NeutralAccX;	240	Aktuell_ax = ADC - NeutralAccX;
241	AdWertAccNick = (Aktuell_ax + accx);	241	AdWertAccNick = (Aktuell_ax + accx);
242	kanal = AD_NICK;	242	kanal = AD_NICK;
243	break;	243	break;
244	case 15:	244	case 15:
245	nick1 += ADC;	245	nick1 += ADC;
246	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	246	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
247	AdWertNick = nick1 / 8;	247	AdWertNick = nick1 / 8;
248	nick_filter = (nick_filter + nick1) / 2;	248	nick_filter = (nick_filter + nick1) / 2;
249	//HiResNick = nick_filter - AdNeutralNick; // MartinR: so war es	249	//HiResNick = nick_filter - AdNeutralNick; // MartinR: so war es
250	HiResNick = (nick_filter - AdNeutralNick + 4 ) / 8 ; // MartinR: + 4um Rundungsfehler zu verbessern	250	HiResNick = (nick_filter - AdNeutralNick + 4 ) / 8 ; // MartinR: + 4um Rundungsfehler zu verbessern
251	// MartinR: /8 von fc.c nach hier verschoben um Code zu sparen	251	// MartinR: /8 von fc.c nach hier verschoben um Code zu sparen
252	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	252	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
253	kanal = AD_ROLL;	253	kanal = AD_ROLL;
254	break;	254	break;
255	case 16:	255	case 16:
256	roll1 += ADC;	256	roll1 += ADC;
257	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	257	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
258	AdWertRoll = roll1 / 8;	258	AdWertRoll = roll1 / 8;
259	roll_filter = (roll_filter + roll1) / 2;	259	roll_filter = (roll_filter + roll1) / 2;
260	HiResRoll = roll_filter - AdNeutralRoll; // MartinR: so war es	260	HiResRoll = roll_filter - AdNeutralRoll; // MartinR: so war es
261	HiResRoll = (roll_filter - AdNeutralRoll + 4 ) / 8; // MartinR: + 4um Rundungsfehler zu verbessern	261	HiResRoll = (roll_filter - AdNeutralRoll + 4 ) / 8; // MartinR: + 4um Rundungsfehler zu verbessern
262	// MartinR: /8 von fc.c nach hier verschoben um Code zu sparen	262	// MartinR: /8 von fc.c nach hier verschoben um Code zu sparen
263	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	263	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
264	kanal = AD_DRUCK;	264	kanal = AD_DRUCK;
265	break;	265	break;
266	case 17:	266	case 17:
267	state = 0;	267	state = 0;
268	AdReady = 1;	268	AdReady = 1;
269	ZaehlMessungen++;	269	ZaehlMessungen++;
270	// "break" fehlt hier absichtlich	270	// "break" fehlt hier absichtlich
271	case 9:	271	case 9:
272	MessLuftdruck = ADC;	272	//MessLuftdruck = ADC; // MartinR: so war es
-		273	MessLuftdruck = ADC + ((Parameter_UserParam4 * AdWertAccHoch) / 256) ; // MartinR:
-		274	// mit Korrektur der Beschleunigungsempfindlichkeit des Luftdrucksensors
273	tmpLuftdruck += MessLuftdruck;	275	tmpLuftdruck += MessLuftdruck;
274	if(++messanzahl_Druck >= 18)	276	if(++messanzahl_Druck >= 18)
275	{	277	{
276	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step	278	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step
277	HoehenWert = StartLuftdruck - Luftdruck;	279	HoehenWert = StartLuftdruck - Luftdruck;
278	SummenHoehe -= SummenHoehe/SM_FILTER;	280	SummenHoehe -= SummenHoehe/SM_FILTER;
279	SummenHoehe += HoehenWert;	281	SummenHoehe += HoehenWert;
280	VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;	282	VarioMeter = (31 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/32;
281	tmpLuftdruck /= 2;	283	tmpLuftdruck /= 2;
282	messanzahl_Druck = 18/2;	284	messanzahl_Druck = 18/2;
283	}	285	}
284	kanal = AD_NICK;	286	kanal = AD_NICK;
285	break;	287	break;
286	default:	288	default:
287	kanal = 0; state = 0; kanal = AD_NICK;	289	kanal = 0; state = 0; kanal = AD_NICK;
288	break;	290	break;
289	}	291	}
290	ADMUX = kanal;	292	ADMUX = kanal;
291	if(state != 0) ANALOG_ON;	293	if(state != 0) ANALOG_ON;
292	}	294	}
293		295
294		296

Subversion Repositories FlightCtrl

(root)/branches/V0.80g_ACC-HH_MartinR_HR/analog.c @ 1925 - Rev 1738 → 1757