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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 | twi_state = 18; |
76 | twi_state = 18; |
77 | I2C_Start(); |
77 | I2C_Start(); |
78 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
78 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
79 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
79 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
80 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
80 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
81 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
81 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
82 | AdReady = 0; |
82 | AdReady = 0; |
83 | ANALOG_ON; |
83 | ANALOG_ON; |
84 | while(!AdReady); |
84 | while(!AdReady); |
85 | if(i<10) Delay_ms_Mess(10); |
85 | if(i<10) Delay_ms_Mess(10); |
86 | } |
86 | } |
87 | Delay_ms_Mess(70); |
87 | Delay_ms_Mess(70); |
88 | } |
88 | } |
89 | 89 | ||
90 | /* |
90 | /* |
91 | 0 n |
91 | 0 n |
92 | 1 r |
92 | 1 r |
93 | 2 g |
93 | 2 g |
94 | 3 y |
94 | 3 y |
95 | 4 x |
95 | 4 x |
96 | 5 n |
96 | 5 n |
97 | 6 r |
97 | 6 r |
98 | 7 u |
98 | 7 u |
99 | 8 z |
99 | 8 z |
100 | 9 L |
100 | 9 L |
101 | 10 n |
101 | 10 n |
102 | 11 r |
102 | 11 r |
103 | 12 g |
103 | 12 g |
104 | 13 y |
104 | 13 y |
105 | 14 x |
105 | 14 x |
106 | 15 n |
106 | 15 n |
107 | 16 r |
107 | 16 r |
108 | 17 L |
108 | 17 L |
109 | */ |
109 | */ |
110 | 110 | ||
111 | //####################################################################################### |
111 | //####################################################################################### |
112 | // |
112 | // |
113 | ISR(ADC_vect) |
113 | ISR(ADC_vect) |
114 | //####################################################################################### |
114 | //####################################################################################### |
115 | { |
115 | { |
116 | static unsigned char kanal=0,state = 0; |
116 | static unsigned char kanal=0,state = 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,subcount = 0; |
118 | static signed int accy, accx,subcount = 0; |
119 | 119 | ||
120 | static long tmpLuftdruck = 0; |
120 | static long tmpLuftdruck = 0; |
121 | static char messanzahl_Druck = 0; |
121 | static char messanzahl_Druck = 0; |
122 | switch(state++) |
122 | switch(state++) |
123 | { |
123 | { |
124 | case 0: |
124 | case 0: |
125 | nick1 = ADC; |
125 | nick1 = ADC; |
126 | kanal = AD_ROLL; |
126 | kanal = AD_ROLL; |
127 | break; |
127 | break; |
128 | case 1: |
128 | case 1: |
129 | roll1 = ADC; |
129 | roll1 = ADC; |
130 | kanal = AD_GIER; |
130 | kanal = AD_GIER; |
131 | break; |
131 | break; |
132 | case 2: |
132 | case 2: |
133 | gier1 = ADC; |
133 | gier1 = ADC; |
134 | kanal = AD_ACC_Y; |
134 | kanal = AD_ACC_Y; |
135 | break; |
135 | break; |
136 | case 3: |
136 | case 3: |
137 | Aktuell_ay = NeutralAccY - ADC; |
137 | Aktuell_ay = NeutralAccY - ADC; |
138 | accy = Aktuell_ay; |
138 | accy = Aktuell_ay; |
139 | kanal = AD_ACC_X; |
139 | kanal = AD_ACC_X; |
140 | break; |
140 | break; |
141 | case 4: |
141 | case 4: |
142 | Aktuell_ax = ADC - NeutralAccX; |
142 | Aktuell_ax = ADC - NeutralAccX; |
143 | accx = Aktuell_ax; |
143 | accx = Aktuell_ax; |
144 | kanal = AD_NICK; |
144 | kanal = AD_NICK; |
145 | break; |
145 | break; |
146 | case 5: |
146 | case 5: |
147 | nick1 += ADC; |
147 | nick1 += ADC; |
148 | kanal = AD_ROLL; |
148 | kanal = AD_ROLL; |
149 | break; |
149 | break; |
150 | case 6: |
150 | case 6: |
151 | roll1 += ADC; |
151 | roll1 += ADC; |
152 | kanal = AD_UBAT; |
152 | kanal = AD_UBAT; |
153 | break; |
153 | break; |
154 | case 7: |
154 | case 7: |
155 | UBat = (3 * UBat + ADC / 3) / 4; |
155 | UBat = (3 * UBat + ADC / 3) / 4; |
156 | kanal = AD_ACC_Z; |
156 | kanal = AD_ACC_Z; |
157 | break; |
157 | break; |
158 | case 8: |
158 | case 8: |
159 | 159 | ||
160 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
160 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
161 | if(AdWertAccHoch > 1) |
161 | if(AdWertAccHoch > 1) |
162 | { |
162 | { |
163 | if(NeutralAccZ < 750) |
163 | if(NeutralAccZ < 750) |
164 | { |
164 | { |
165 | subcount += 2; |
165 | subcount += 2; |
166 | if(modell_fliegt < 500) subcount += 100; |
166 | if(modell_fliegt < 500) subcount += 100; |
167 | } |
167 | } |
168 | if(subcount > 1000) { NeutralAccZ++; subcount -= 1000;} |
168 | if(subcount > 1000) { NeutralAccZ++; subcount -= 1000;} |
169 | } |
169 | } |
170 | else if(AdWertAccHoch < -1) |
170 | else if(AdWertAccHoch < -1) |
171 | { |
171 | { |
172 | if(NeutralAccZ > 550) |
172 | if(NeutralAccZ > 550) |
173 | { |
173 | { |
174 | subcount -= 2; |
174 | subcount -= 2; |
175 | if(modell_fliegt < 500) subcount -= 100; |
175 | if(modell_fliegt < 500) subcount -= 100; |
176 | if(subcount < -1000) { NeutralAccZ--; subcount += 1000;} |
176 | if(subcount < -1000) { NeutralAccZ--; subcount += 1000;} |
177 | } |
177 | } |
178 | } |
178 | } |
179 | /* |
179 | /* |
180 | AdWertAccHoch = (signed int) ADC - NeutralAccZ_float; |
180 | AdWertAccHoch = (signed int) ADC - NeutralAccZ_float; |
181 | if(AdWertAccHoch > 1) |
181 | if(AdWertAccHoch > 1) |
182 | { |
182 | { |
183 | if(NeutralAccZ_float < 750) |
183 | if(NeutralAccZ_float < 750) |
184 | { |
184 | { |
185 | NeutralAccZ_float += 0.02; |
185 | NeutralAccZ_float += 0.02; |
186 | if(modell_fliegt < 500) NeutralAccZ_float += 0.1; |
186 | if(modell_fliegt < 500) NeutralAccZ_float += 0.1; |
187 | } |
187 | } |
188 | } |
188 | } |
189 | else if(AdWertAccHoch < -1) |
189 | else if(AdWertAccHoch < -1) |
190 | { |
190 | { |
191 | if(NeutralAccZ_float > 550) |
191 | if(NeutralAccZ_float > 550) |
192 | { |
192 | { |
193 | NeutralAccZ_float-= 0.02; |
193 | NeutralAccZ_float-= 0.02; |
194 | if(modell_fliegt < 500) NeutralAccZ_float -= 0.1; |
194 | if(modell_fliegt < 500) NeutralAccZ_float -= 0.1; |
195 | } |
195 | } |
196 | } |
196 | } |
197 | */ |
197 | */ |
198 | messanzahl_AccHoch = 1; |
198 | messanzahl_AccHoch = 1; |
199 | Aktuell_az = ADC; |
199 | Aktuell_az = ADC; |
200 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
200 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
201 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
201 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
202 | kanal = AD_DRUCK; |
202 | kanal = AD_DRUCK; |
203 | break; |
203 | break; |
204 | // "case 8:" fehlt hier absichtlich |
204 | // "case 8:" fehlt hier absichtlich |
205 | case 10: |
205 | case 10: |
206 | nick1 += ADC; |
206 | nick1 += ADC; |
207 | kanal = AD_ROLL; |
207 | kanal = AD_ROLL; |
208 | break; |
208 | break; |
209 | case 11: |
209 | case 11: |
210 | roll1 += ADC; |
210 | roll1 += ADC; |
211 | kanal = AD_GIER; |
211 | kanal = AD_GIER; |
212 | break; |
212 | break; |
213 | case 12: |
213 | case 12: |
214 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
214 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
215 | else |
215 | else |
216 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
216 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1); |
217 | else AdWertGier = (ADC + gier1); |
217 | else AdWertGier = (ADC + gier1); |
218 | kanal = AD_ACC_Y; |
218 | kanal = AD_ACC_Y; |
219 | break; |
219 | break; |
220 | case 13: |
220 | case 13: |
221 | Aktuell_ay = NeutralAccY - ADC; |
221 | Aktuell_ay = NeutralAccY - ADC; |
222 | AdWertAccRoll = (Aktuell_ay + accy); |
222 | AdWertAccRoll = (Aktuell_ay + accy); |
223 | kanal = AD_ACC_X; |
223 | kanal = AD_ACC_X; |
224 | break; |
224 | break; |
225 | case 14: |
225 | case 14: |
226 | Aktuell_ax = ADC - NeutralAccX; |
226 | Aktuell_ax = ADC - NeutralAccX; |
227 | AdWertAccNick = (Aktuell_ax + accx); |
227 | AdWertAccNick = (Aktuell_ax + accx); |
228 | kanal = AD_NICK; |
228 | kanal = AD_NICK; |
229 | break; |
229 | break; |
230 | case 15: |
230 | case 15: |
231 | nick1 += ADC; |
231 | nick1 += ADC; |
232 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
232 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
233 | AdWertNick = nick1 / 8; |
233 | AdWertNick = nick1 / 8; |
234 | nick_filter = (nick_filter + nick1) / 2; |
234 | nick_filter = (nick_filter + nick1) / 2; |
235 | HiResNick = nick_filter - AdNeutralNick; |
235 | HiResNick = nick_filter - AdNeutralNick; |
236 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
236 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
237 | kanal = AD_ROLL; |
237 | kanal = AD_ROLL; |
238 | break; |
238 | break; |
239 | case 16: |
239 | case 16: |
240 | roll1 += ADC; |
240 | roll1 += ADC; |
241 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
241 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
242 | AdWertRoll = roll1 / 8; |
242 | AdWertRoll = roll1 / 8; |
243 | roll_filter = (roll_filter + roll1) / 2; |
243 | roll_filter = (roll_filter + roll1) / 2; |
244 | HiResRoll = roll_filter - AdNeutralRoll; |
244 | HiResRoll = roll_filter - AdNeutralRoll; |
245 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
245 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
246 | kanal = AD_DRUCK; |
246 | kanal = AD_DRUCK; |
247 | break; |
247 | break; |
248 | case 17: |
248 | case 17: |
249 | state = 0; |
249 | state = 0; |
250 | AdReady = 1; |
250 | AdReady = 1; |
251 | ZaehlMessungen++; |
251 | ZaehlMessungen++; |
252 | // "break" fehlt hier absichtlich |
252 | // "break" fehlt hier absichtlich |
253 | case 9: |
253 | case 9: |
254 | MessLuftdruck = ADC; |
254 | MessLuftdruck = ADC; |
255 | tmpLuftdruck += MessLuftdruck; |
255 | tmpLuftdruck += MessLuftdruck; |
256 | if(++messanzahl_Druck >= 18) |
256 | if(++messanzahl_Druck >= 18) |
257 | { |
257 | { |
258 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
258 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
259 | HoehenWert = StartLuftdruck - Luftdruck; |
259 | HoehenWert = StartLuftdruck - Luftdruck; |
260 | SummenHoehe -= SummenHoehe/SM_FILTER; |
260 | SummenHoehe -= SummenHoehe/SM_FILTER; |
261 | SummenHoehe += HoehenWert; |
261 | SummenHoehe += HoehenWert; |
262 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
262 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
263 | tmpLuftdruck /= 2; |
263 | tmpLuftdruck /= 2; |
264 | messanzahl_Druck = 18/2; |
264 | messanzahl_Druck = 18/2; |
265 | } |
265 | } |
266 | kanal = AD_NICK; |
266 | kanal = AD_NICK; |
267 | break; |
267 | break; |
268 | default: |
268 | default: |
269 | kanal = 0; state = 0; kanal = AD_NICK; |
269 | kanal = 0; state = 0; kanal = AD_NICK; |
270 | break; |
270 | break; |
271 | } |
271 | } |
272 | ADMUX = kanal; |
272 | ADMUX = kanal; |
273 | if(state != 0) ANALOG_ON; |
273 | if(state != 0) ANALOG_ON; |
274 | 274 | ||
275 | } |
275 | } |
276 | 276 | ||
277 | 277 | ||
278 | 278 | ||
279 | /* |
279 | /* |
280 | //####################################################################################### |
280 | //####################################################################################### |
281 | // |
281 | // |
282 | SIGNAL(SIG_ADC) |
282 | SIGNAL(SIG_ADC) |
283 | //####################################################################################### |
283 | //####################################################################################### |
284 | { |
284 | { |
285 | static unsigned char kanal=0,state = 0; |
285 | static unsigned char kanal=0,state = 0; |
286 | static signed int gier1, roll1, nick1; |
286 | static signed int gier1, roll1, nick1; |
287 | static signed long nick_filter, roll_filter; |
287 | static signed long nick_filter, roll_filter; |
288 | static signed int accy, accx; |
288 | static signed int accy, accx; |
289 | switch(state++) |
289 | switch(state++) |
290 | { |
290 | { |
291 | case 0: |
291 | case 0: |
292 | nick1 = ADC; |
292 | nick1 = ADC; |
293 | kanal = AD_ROLL; |
293 | kanal = AD_ROLL; |
294 | break; |
294 | break; |
295 | case 1: |
295 | case 1: |
296 | roll1 = ADC; |
296 | roll1 = ADC; |
297 | kanal = AD_GIER; |
297 | kanal = AD_GIER; |
298 | break; |
298 | break; |
299 | case 2: |
299 | case 2: |
300 | gier1 = ADC; |
300 | gier1 = ADC; |
301 | kanal = AD_ACC_Y; |
301 | kanal = AD_ACC_Y; |
302 | break; |
302 | break; |
303 | case 3: |
303 | case 3: |
304 | Aktuell_ay = NeutralAccY - ADC; |
304 | Aktuell_ay = NeutralAccY - ADC; |
305 | accy = Aktuell_ay; |
305 | accy = Aktuell_ay; |
306 | kanal = AD_NICK; |
306 | kanal = AD_NICK; |
307 | break; |
307 | break; |
308 | case 4: |
308 | case 4: |
309 | nick1 += ADC; |
309 | nick1 += ADC; |
310 | kanal = AD_ROLL; |
310 | kanal = AD_ROLL; |
311 | break; |
311 | break; |
312 | case 5: |
312 | case 5: |
313 | roll1 += ADC; |
313 | roll1 += ADC; |
314 | kanal = AD_ACC_Z; |
314 | kanal = AD_ACC_Z; |
315 | break; |
315 | break; |
316 | case 6: |
316 | case 6: |
317 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
317 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
318 | if(AdWertAccHoch > 1) |
318 | if(AdWertAccHoch > 1) |
319 | { |
319 | { |
320 | if(NeutralAccZ < 750) |
320 | if(NeutralAccZ < 750) |
321 | { |
321 | { |
322 | NeutralAccZ += 0.02; |
322 | NeutralAccZ += 0.02; |
323 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
323 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
324 | } |
324 | } |
325 | } |
325 | } |
326 | else if(AdWertAccHoch < -1) |
326 | else if(AdWertAccHoch < -1) |
327 | { |
327 | { |
328 | if(NeutralAccZ > 550) |
328 | if(NeutralAccZ > 550) |
329 | { |
329 | { |
330 | NeutralAccZ-= 0.02; |
330 | NeutralAccZ-= 0.02; |
331 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
331 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
332 | } |
332 | } |
333 | } |
333 | } |
334 | messanzahl_AccHoch = 1; |
334 | messanzahl_AccHoch = 1; |
335 | Aktuell_az = ADC; |
335 | Aktuell_az = ADC; |
336 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
336 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
337 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
337 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
338 | kanal = AD_NICK; |
338 | kanal = AD_NICK; |
339 | break; |
339 | break; |
340 | case 7: |
340 | case 7: |
341 | nick1 += ADC; |
341 | nick1 += ADC; |
342 | kanal = AD_ROLL; |
342 | kanal = AD_ROLL; |
343 | break; |
343 | break; |
344 | case 8: |
344 | case 8: |
345 | roll1 += ADC; |
345 | roll1 += ADC; |
346 | kanal = AD_ACC_X; |
346 | kanal = AD_ACC_X; |
347 | break; |
347 | break; |
348 | case 9: |
348 | case 9: |
349 | Aktuell_ax = ADC - NeutralAccX; |
349 | Aktuell_ax = ADC - NeutralAccX; |
350 | accx = Aktuell_ax; |
350 | accx = Aktuell_ax; |
351 | kanal = AD_GIER; |
351 | kanal = AD_GIER; |
352 | break; |
352 | break; |
353 | case 10: |
353 | case 10: |
354 | gier1 += ADC; |
354 | gier1 += ADC; |
355 | kanal = AD_NICK; |
355 | kanal = AD_NICK; |
356 | break; |
356 | break; |
357 | case 11: |
357 | case 11: |
358 | nick1 += ADC; |
358 | nick1 += ADC; |
359 | kanal = AD_ROLL; |
359 | kanal = AD_ROLL; |
360 | break; |
360 | break; |
361 | case 12: |
361 | case 12: |
362 | roll1 += ADC; |
362 | roll1 += ADC; |
363 | kanal = AD_UBAT; |
363 | kanal = AD_UBAT; |
364 | break; |
364 | break; |
365 | case 13: |
365 | case 13: |
366 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
366 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
367 | kanal = AD_ACC_Y; |
367 | kanal = AD_ACC_Y; |
368 | break; |
368 | break; |
369 | case 14: |
369 | case 14: |
370 | Aktuell_ay = NeutralAccY - ADC; |
370 | Aktuell_ay = NeutralAccY - ADC; |
371 | accy += Aktuell_ay; |
371 | accy += Aktuell_ay; |
372 | kanal = AD_NICK; |
372 | kanal = AD_NICK; |
373 | break; |
373 | break; |
374 | case 15: |
374 | case 15: |
375 | nick1 += ADC; |
375 | nick1 += ADC; |
376 | kanal = AD_ROLL; |
376 | kanal = AD_ROLL; |
377 | break; |
377 | break; |
378 | case 16: |
378 | case 16: |
379 | roll1 += ADC; |
379 | roll1 += ADC; |
380 | kanal = AD_ACC_X; |
380 | kanal = AD_ACC_X; |
381 | break; |
381 | break; |
382 | case 17: |
382 | case 17: |
383 | Aktuell_ax = ADC - NeutralAccX; |
383 | Aktuell_ax = ADC - NeutralAccX; |
384 | accx += Aktuell_ax; |
384 | accx += Aktuell_ax; |
385 | kanal = AD_NICK; |
385 | kanal = AD_NICK; |
386 | break; |
386 | break; |
387 | case 18: |
387 | case 18: |
388 | nick1 += ADC; |
388 | nick1 += ADC; |
389 | kanal = AD_ROLL; |
389 | kanal = AD_ROLL; |
390 | break; |
390 | break; |
391 | case 19: |
391 | case 19: |
392 | roll1 += ADC; |
392 | roll1 += ADC; |
393 | kanal = AD_GIER; |
393 | kanal = AD_GIER; |
394 | break; |
394 | break; |
395 | case 20: |
395 | case 20: |
396 | gier1 += ADC; |
396 | gier1 += ADC; |
397 | kanal = AD_ACC_Y; |
397 | kanal = AD_ACC_Y; |
398 | break; |
398 | break; |
399 | case 21: |
399 | case 21: |
400 | Aktuell_ay = NeutralAccY - ADC; |
400 | Aktuell_ay = NeutralAccY - ADC; |
401 | accy += Aktuell_ay; |
401 | accy += Aktuell_ay; |
402 | kanal = AD_NICK; |
402 | kanal = AD_NICK; |
403 | break; |
403 | break; |
404 | case 22: |
404 | case 22: |
405 | nick1 += ADC; |
405 | nick1 += ADC; |
406 | kanal = AD_ROLL; |
406 | kanal = AD_ROLL; |
407 | break; |
407 | break; |
408 | case 23: |
408 | case 23: |
409 | roll1 += ADC; |
409 | roll1 += ADC; |
410 | kanal = AD_DRUCK; |
410 | kanal = AD_DRUCK; |
411 | break; |
411 | break; |
412 | case 24: |
412 | case 24: |
413 | tmpLuftdruck += ADC; |
413 | tmpLuftdruck += ADC; |
414 | if(++messanzahl_Druck >= 5) |
414 | if(++messanzahl_Druck >= 5) |
415 | { |
415 | { |
416 | MessLuftdruck = ADC; |
416 | MessLuftdruck = ADC; |
417 | messanzahl_Druck = 0; |
417 | messanzahl_Druck = 0; |
418 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
418 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
419 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
419 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
420 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
420 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
421 | tmpLuftdruck = 0; |
421 | tmpLuftdruck = 0; |
422 | } |
422 | } |
423 | kanal = AD_NICK; |
423 | kanal = AD_NICK; |
424 | break; |
424 | break; |
425 | case 25: |
425 | case 25: |
426 | nick1 += ADC; |
426 | nick1 += ADC; |
427 | kanal = AD_ROLL; |
427 | kanal = AD_ROLL; |
428 | break; |
428 | break; |
429 | case 26: |
429 | case 26: |
430 | roll1 += ADC; |
430 | roll1 += ADC; |
431 | kanal = AD_ACC_X; |
431 | kanal = AD_ACC_X; |
432 | break; |
432 | break; |
433 | case 27: |
433 | case 27: |
434 | Aktuell_ax = ADC - NeutralAccX; |
434 | Aktuell_ax = ADC - NeutralAccX; |
435 | accx += Aktuell_ax; |
435 | accx += Aktuell_ax; |
436 | kanal = AD_GIER; |
436 | kanal = AD_GIER; |
437 | break; |
437 | break; |
438 | case 28: |
438 | case 28: |
439 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
439 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
440 | else |
440 | else |
441 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
441 | if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
442 | else AdWertGier = (ADC + gier1 + 1) / 2; |
442 | else AdWertGier = (ADC + gier1 + 1) / 2; |
443 | kanal = AD_NICK; |
443 | kanal = AD_NICK; |
444 | break; |
444 | break; |
445 | case 29: |
445 | case 29: |
446 | nick1 += ADC; |
446 | nick1 += ADC; |
447 | kanal = AD_ROLL; |
447 | kanal = AD_ROLL; |
448 | break; |
448 | break; |
449 | case 30: |
449 | case 30: |
450 | roll1 += ADC; |
450 | roll1 += ADC; |
451 | kanal = AD_ACC_Y; |
451 | kanal = AD_ACC_Y; |
452 | break; |
452 | break; |
453 | case 31: |
453 | case 31: |
454 | Aktuell_ay = NeutralAccY - ADC; |
454 | Aktuell_ay = NeutralAccY - ADC; |
455 | AdWertAccRoll = (Aktuell_ay + accy); |
455 | AdWertAccRoll = (Aktuell_ay + accy); |
456 | kanal = AD_NICK; |
456 | kanal = AD_NICK; |
457 | break; |
457 | break; |
458 | case 32: |
458 | case 32: |
459 | AdWertNick = (ADC + nick1 + 3) / 5; |
459 | AdWertNick = (ADC + nick1 + 3) / 5; |
460 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
460 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
461 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
461 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
462 | HiResNick = nick_filter - 20 * AdNeutralNick; |
462 | HiResNick = nick_filter - 20 * AdNeutralNick; |
463 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
463 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
464 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
464 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
465 | kanal = AD_ROLL; |
465 | kanal = AD_ROLL; |
466 | break; |
466 | break; |
467 | case 33: |
467 | case 33: |
468 | AdWertRoll = (ADC + roll1 + 3) / 5; |
468 | AdWertRoll = (ADC + roll1 + 3) / 5; |
469 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
469 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
470 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
470 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
471 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
471 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
472 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
472 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
473 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
473 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
474 | kanal = AD_ACC_X; |
474 | kanal = AD_ACC_X; |
475 | break; |
475 | break; |
476 | case 34: |
476 | case 34: |
477 | Aktuell_ax = ADC - NeutralAccX; |
477 | Aktuell_ax = ADC - NeutralAccX; |
478 | AdWertAccNick = (Aktuell_ax + accx); |
478 | AdWertAccNick = (Aktuell_ax + accx); |
479 | kanal = AD_NICK; |
479 | kanal = AD_NICK; |
480 | state = 0; |
480 | state = 0; |
481 | AdReady = 1; |
481 | AdReady = 1; |
482 | ZaehlMessungen++; |
482 | ZaehlMessungen++; |
483 | break; |
483 | break; |
484 | default: |
484 | default: |
485 | kanal = 0; |
485 | kanal = 0; |
486 | state = 0; |
486 | state = 0; |
487 | break; |
487 | break; |
488 | } |
488 | } |
489 | ADMUX = kanal; |
489 | ADMUX = kanal; |
490 | if(state != 0) ANALOG_ON; |
490 | if(state != 0) ANALOG_ON; |
491 | } |
491 | } |
492 | */ |
492 | */ |
493 | 493 |