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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 | //####################################################################################### |
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 | OCR0A = off; |
57 | OCR0A = off; |
58 | Delay_ms_Mess(300); |
58 | Delay_ms_Mess(300); |
59 | 59 | ||
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 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
66 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
67 | timeout = SetDelay(2000); |
67 | timeout = SetDelay(2000); |
68 | for(i=140; i != 0; i--) |
68 | for(i=140; i != 0; i--) |
69 | { |
69 | { |
70 | if(ready == 3 && i > 10) i = 9; |
70 | if(ready == 3 && i > 10) i = 9; |
71 | ready = 0; |
71 | ready = 0; |
72 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
72 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
73 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
73 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
74 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
74 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
75 | twi_state = 18; |
75 | twi_state = 18; |
76 | i2c_start(); |
76 | I2C_Start(); |
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 int gier1, roll1, nick1, nick_filter, roll_filter; |
116 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
117 | static signed int accy, accx; |
117 | static signed int accy, accx,subcount = 0; |
118 | 118 | ||
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 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
158 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
159 | if(AdWertAccHoch > 1) |
159 | if(AdWertAccHoch > 1) |
160 | { |
160 | { |
161 | if(NeutralAccZ < 750) |
161 | if(NeutralAccZ < 750) |
162 | { |
162 | { |
- | 163 | subcount += 2; |
|
- | 164 | if(modell_fliegt < 500) subcount += 100; |
|
- | 165 | } |
|
- | 166 | if(subcount > 1000) { NeutralAccZ++; subcount -= 1000;} |
|
- | 167 | } |
|
- | 168 | else if(AdWertAccHoch < -1) |
|
- | 169 | { |
|
- | 170 | if(NeutralAccZ > 550) |
|
- | 171 | { |
|
- | 172 | subcount -= 2; |
|
- | 173 | if(modell_fliegt < 500) subcount -= 100; |
|
- | 174 | if(subcount < -1000) { NeutralAccZ--; subcount += 1000;} |
|
- | 175 | } |
|
- | 176 | } |
|
- | 177 | messanzahl_AccHoch = 1; |
|
- | 178 | Aktuell_az = ADC; |
|
- | 179 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
|
- | 180 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
|
- | 181 | ||
- | 182 | /* |
|
- | 183 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
|
- | 184 | if(AdWertAccHoch > 1) |
|
- | 185 | { |
|
- | 186 | if(NeutralAccZ < 750) |
|
- | 187 | { |
|
163 | NeutralAccZ += 0.02; |
188 | NeutralAccZ += 0.02; |
164 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
189 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
165 | } |
190 | } |
166 | } |
191 | } |
167 | else if(AdWertAccHoch < -1) |
192 | else if(AdWertAccHoch < -1) |
168 | { |
193 | { |
169 | if(NeutralAccZ > 550) |
194 | if(NeutralAccZ > 550) |
170 | { |
195 | { |
171 | NeutralAccZ-= 0.02; |
196 | NeutralAccZ-= 0.02; |
172 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
197 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
173 | } |
198 | } |
174 | } |
199 | } |
175 | messanzahl_AccHoch = 1; |
200 | messanzahl_AccHoch = 1; |
176 | Aktuell_az = ADC; |
201 | Aktuell_az = ADC; |
177 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
202 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
178 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
203 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
- | 204 | */ |
|
179 | kanal = AD_DRUCK; |
205 | kanal = AD_DRUCK; |
180 | break; |
206 | break; |
181 | // "case 8:" fehlt hier absichtlich |
207 | // "case 8:" fehlt hier absichtlich |
182 | case 10: |
208 | case 10: |
183 | nick1 += ADC; |
209 | nick1 += ADC; |
184 | kanal = AD_ROLL; |
210 | kanal = AD_ROLL; |
185 | break; |
211 | break; |
186 | case 11: |
212 | case 11: |
187 | roll1 += ADC; |
213 | roll1 += ADC; |
188 | kanal = AD_GIER; |
214 | kanal = AD_GIER; |
189 | break; |
215 | break; |
190 | case 12: |
216 | case 12: |
191 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
217 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
192 | else |
218 | else |
193 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
219 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
194 | else AdWertGier = (ADC + gier1); |
220 | else AdWertGier = (ADC + gier1); |
195 | kanal = AD_ACC_Y; |
221 | kanal = AD_ACC_Y; |
196 | break; |
222 | break; |
197 | case 13: |
223 | case 13: |
198 | Aktuell_ay = NeutralAccY - ADC; |
224 | Aktuell_ay = NeutralAccY - ADC; |
199 | AdWertAccRoll = (Aktuell_ay + accy); |
225 | AdWertAccRoll = (Aktuell_ay + accy); |
200 | kanal = AD_ACC_X; |
226 | kanal = AD_ACC_X; |
201 | break; |
227 | break; |
202 | case 14: |
228 | case 14: |
203 | Aktuell_ax = ADC - NeutralAccX; |
229 | Aktuell_ax = ADC - NeutralAccX; |
204 | AdWertAccNick = (Aktuell_ax + accx); |
230 | AdWertAccNick = (Aktuell_ax + accx); |
205 | kanal = AD_NICK; |
231 | kanal = AD_NICK; |
206 | break; |
232 | break; |
207 | case 15: |
233 | case 15: |
208 | nick1 += ADC; |
234 | nick1 += ADC; |
209 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
235 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
210 | AdWertNick = nick1 / 8; |
236 | AdWertNick = nick1 / 8; |
211 | nick_filter = (nick_filter + nick1) / 2; |
237 | nick_filter = (nick_filter + nick1) / 2; |
212 | HiResNick = nick_filter - AdNeutralNick; |
238 | HiResNick = nick_filter - AdNeutralNick; |
213 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
239 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
214 | kanal = AD_ROLL; |
240 | kanal = AD_ROLL; |
215 | break; |
241 | break; |
216 | case 16: |
242 | case 16: |
217 | roll1 += ADC; |
243 | roll1 += ADC; |
218 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
244 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
219 | AdWertRoll = roll1 / 8; |
245 | AdWertRoll = roll1 / 8; |
220 | roll_filter = (roll_filter + roll1) / 2; |
246 | roll_filter = (roll_filter + roll1) / 2; |
221 | HiResRoll = roll_filter - AdNeutralRoll; |
247 | HiResRoll = roll_filter - AdNeutralRoll; |
222 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
248 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
223 | kanal = AD_DRUCK; |
249 | kanal = AD_DRUCK; |
224 | break; |
250 | break; |
225 | case 17: |
251 | case 17: |
226 | state = 0; |
252 | state = 0; |
227 | AdReady = 1; |
253 | AdReady = 1; |
228 | ZaehlMessungen++; |
254 | ZaehlMessungen++; |
229 | // "break" fehlt hier absichtlich |
255 | // "break" fehlt hier absichtlich |
230 | case 9: |
256 | case 9: |
231 | MessLuftdruck = ADC; |
257 | MessLuftdruck = ADC; |
232 | tmpLuftdruck += MessLuftdruck; |
258 | tmpLuftdruck += MessLuftdruck; |
233 | if(++messanzahl_Druck >= 18) |
259 | if(++messanzahl_Druck >= 18) |
234 | { |
260 | { |
235 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
261 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
236 | HoehenWert = StartLuftdruck - Luftdruck; |
262 | HoehenWert = StartLuftdruck - Luftdruck; |
237 | SummenHoehe -= SummenHoehe/SM_FILTER; |
263 | SummenHoehe -= SummenHoehe/SM_FILTER; |
238 | SummenHoehe += HoehenWert; |
264 | SummenHoehe += HoehenWert; |
239 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
265 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
240 | tmpLuftdruck /= 2; |
266 | tmpLuftdruck /= 2; |
241 | messanzahl_Druck = 18/2; |
267 | messanzahl_Druck = 18/2; |
242 | } |
268 | } |
243 | kanal = AD_NICK; |
269 | kanal = AD_NICK; |
244 | break; |
270 | break; |
245 | default: |
271 | default: |
246 | kanal = 0; state = 0; kanal = AD_NICK; |
272 | kanal = 0; state = 0; kanal = AD_NICK; |
247 | break; |
273 | break; |
248 | } |
274 | } |
249 | ADMUX = kanal; |
275 | ADMUX = kanal; |
250 | if(state != 0) ANALOG_ON; |
276 | if(state != 0) ANALOG_ON; |
251 | 277 | ||
252 | } |
278 | } |
253 | 279 | ||
254 | 280 | ||
255 | 281 | ||
256 | /* |
282 | /* |
257 | //####################################################################################### |
283 | //####################################################################################### |
258 | // |
284 | // |
259 | SIGNAL(SIG_ADC) |
285 | SIGNAL(SIG_ADC) |
260 | //####################################################################################### |
286 | //####################################################################################### |
261 | { |
287 | { |
262 | static unsigned char kanal=0,state = 0; |
288 | static unsigned char kanal=0,state = 0; |
263 | static signed int gier1, roll1, nick1; |
289 | static signed int gier1, roll1, nick1; |
264 | static signed long nick_filter, roll_filter; |
290 | static signed long nick_filter, roll_filter; |
265 | static signed int accy, accx; |
291 | static signed int accy, accx; |
266 | switch(state++) |
292 | switch(state++) |
267 | { |
293 | { |
268 | case 0: |
294 | case 0: |
269 | nick1 = ADC; |
295 | nick1 = ADC; |
270 | kanal = AD_ROLL; |
296 | kanal = AD_ROLL; |
271 | break; |
297 | break; |
272 | case 1: |
298 | case 1: |
273 | roll1 = ADC; |
299 | roll1 = ADC; |
274 | kanal = AD_GIER; |
300 | kanal = AD_GIER; |
275 | break; |
301 | break; |
276 | case 2: |
302 | case 2: |
277 | gier1 = ADC; |
303 | gier1 = ADC; |
278 | kanal = AD_ACC_Y; |
304 | kanal = AD_ACC_Y; |
279 | break; |
305 | break; |
280 | case 3: |
306 | case 3: |
281 | Aktuell_ay = NeutralAccY - ADC; |
307 | Aktuell_ay = NeutralAccY - ADC; |
282 | accy = Aktuell_ay; |
308 | accy = Aktuell_ay; |
283 | kanal = AD_NICK; |
309 | kanal = AD_NICK; |
284 | break; |
310 | break; |
285 | case 4: |
311 | case 4: |
286 | nick1 += ADC; |
312 | nick1 += ADC; |
287 | kanal = AD_ROLL; |
313 | kanal = AD_ROLL; |
288 | break; |
314 | break; |
289 | case 5: |
315 | case 5: |
290 | roll1 += ADC; |
316 | roll1 += ADC; |
291 | kanal = AD_ACC_Z; |
317 | kanal = AD_ACC_Z; |
292 | break; |
318 | break; |
293 | case 6: |
319 | case 6: |
294 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
320 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
295 | if(AdWertAccHoch > 1) |
321 | if(AdWertAccHoch > 1) |
296 | { |
322 | { |
297 | if(NeutralAccZ < 750) |
323 | if(NeutralAccZ < 750) |
298 | { |
324 | { |
299 | NeutralAccZ += 0.02; |
325 | NeutralAccZ += 0.02; |
300 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
326 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
301 | } |
327 | } |
302 | } |
328 | } |
303 | else if(AdWertAccHoch < -1) |
329 | else if(AdWertAccHoch < -1) |
304 | { |
330 | { |
305 | if(NeutralAccZ > 550) |
331 | if(NeutralAccZ > 550) |
306 | { |
332 | { |
307 | NeutralAccZ-= 0.02; |
333 | NeutralAccZ-= 0.02; |
308 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
334 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
309 | } |
335 | } |
310 | } |
336 | } |
311 | messanzahl_AccHoch = 1; |
337 | messanzahl_AccHoch = 1; |
312 | Aktuell_az = ADC; |
338 | Aktuell_az = ADC; |
313 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
339 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
314 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
340 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
315 | kanal = AD_NICK; |
341 | kanal = AD_NICK; |
316 | break; |
342 | break; |
317 | case 7: |
343 | case 7: |
318 | nick1 += ADC; |
344 | nick1 += ADC; |
319 | kanal = AD_ROLL; |
345 | kanal = AD_ROLL; |
320 | break; |
346 | break; |
321 | case 8: |
347 | case 8: |
322 | roll1 += ADC; |
348 | roll1 += ADC; |
323 | kanal = AD_ACC_X; |
349 | kanal = AD_ACC_X; |
324 | break; |
350 | break; |
325 | case 9: |
351 | case 9: |
326 | Aktuell_ax = ADC - NeutralAccX; |
352 | Aktuell_ax = ADC - NeutralAccX; |
327 | accx = Aktuell_ax; |
353 | accx = Aktuell_ax; |
328 | kanal = AD_GIER; |
354 | kanal = AD_GIER; |
329 | break; |
355 | break; |
330 | case 10: |
356 | case 10: |
331 | gier1 += ADC; |
357 | gier1 += ADC; |
332 | kanal = AD_NICK; |
358 | kanal = AD_NICK; |
333 | break; |
359 | break; |
334 | case 11: |
360 | case 11: |
335 | nick1 += ADC; |
361 | nick1 += ADC; |
336 | kanal = AD_ROLL; |
362 | kanal = AD_ROLL; |
337 | break; |
363 | break; |
338 | case 12: |
364 | case 12: |
339 | roll1 += ADC; |
365 | roll1 += ADC; |
340 | kanal = AD_UBAT; |
366 | kanal = AD_UBAT; |
341 | break; |
367 | break; |
342 | case 13: |
368 | case 13: |
343 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
369 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
344 | kanal = AD_ACC_Y; |
370 | kanal = AD_ACC_Y; |
345 | break; |
371 | break; |
346 | case 14: |
372 | case 14: |
347 | Aktuell_ay = NeutralAccY - ADC; |
373 | Aktuell_ay = NeutralAccY - ADC; |
348 | accy += Aktuell_ay; |
374 | accy += Aktuell_ay; |
349 | kanal = AD_NICK; |
375 | kanal = AD_NICK; |
350 | break; |
376 | break; |
351 | case 15: |
377 | case 15: |
352 | nick1 += ADC; |
378 | nick1 += ADC; |
353 | kanal = AD_ROLL; |
379 | kanal = AD_ROLL; |
354 | break; |
380 | break; |
355 | case 16: |
381 | case 16: |
356 | roll1 += ADC; |
382 | roll1 += ADC; |
357 | kanal = AD_ACC_X; |
383 | kanal = AD_ACC_X; |
358 | break; |
384 | break; |
359 | case 17: |
385 | case 17: |
360 | Aktuell_ax = ADC - NeutralAccX; |
386 | Aktuell_ax = ADC - NeutralAccX; |
361 | accx += Aktuell_ax; |
387 | accx += Aktuell_ax; |
362 | kanal = AD_NICK; |
388 | kanal = AD_NICK; |
363 | break; |
389 | break; |
364 | case 18: |
390 | case 18: |
365 | nick1 += ADC; |
391 | nick1 += ADC; |
366 | kanal = AD_ROLL; |
392 | kanal = AD_ROLL; |
367 | break; |
393 | break; |
368 | case 19: |
394 | case 19: |
369 | roll1 += ADC; |
395 | roll1 += ADC; |
370 | kanal = AD_GIER; |
396 | kanal = AD_GIER; |
371 | break; |
397 | break; |
372 | case 20: |
398 | case 20: |
373 | gier1 += ADC; |
399 | gier1 += ADC; |
374 | kanal = AD_ACC_Y; |
400 | kanal = AD_ACC_Y; |
375 | break; |
401 | break; |
376 | case 21: |
402 | case 21: |
377 | Aktuell_ay = NeutralAccY - ADC; |
403 | Aktuell_ay = NeutralAccY - ADC; |
378 | accy += Aktuell_ay; |
404 | accy += Aktuell_ay; |
379 | kanal = AD_NICK; |
405 | kanal = AD_NICK; |
380 | break; |
406 | break; |
381 | case 22: |
407 | case 22: |
382 | nick1 += ADC; |
408 | nick1 += ADC; |
383 | kanal = AD_ROLL; |
409 | kanal = AD_ROLL; |
384 | break; |
410 | break; |
385 | case 23: |
411 | case 23: |
386 | roll1 += ADC; |
412 | roll1 += ADC; |
387 | kanal = AD_DRUCK; |
413 | kanal = AD_DRUCK; |
388 | break; |
414 | break; |
389 | case 24: |
415 | case 24: |
390 | tmpLuftdruck += ADC; |
416 | tmpLuftdruck += ADC; |
391 | if(++messanzahl_Druck >= 5) |
417 | if(++messanzahl_Druck >= 5) |
392 | { |
418 | { |
393 | MessLuftdruck = ADC; |
419 | MessLuftdruck = ADC; |
394 | messanzahl_Druck = 0; |
420 | messanzahl_Druck = 0; |
395 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
421 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
396 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
422 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
397 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
423 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
398 | tmpLuftdruck = 0; |
424 | tmpLuftdruck = 0; |
399 | } |
425 | } |
400 | kanal = AD_NICK; |
426 | kanal = AD_NICK; |
401 | break; |
427 | break; |
402 | case 25: |
428 | case 25: |
403 | nick1 += ADC; |
429 | nick1 += ADC; |
404 | kanal = AD_ROLL; |
430 | kanal = AD_ROLL; |
405 | break; |
431 | break; |
406 | case 26: |
432 | case 26: |
407 | roll1 += ADC; |
433 | roll1 += ADC; |
408 | kanal = AD_ACC_X; |
434 | kanal = AD_ACC_X; |
409 | break; |
435 | break; |
410 | case 27: |
436 | case 27: |
411 | Aktuell_ax = ADC - NeutralAccX; |
437 | Aktuell_ax = ADC - NeutralAccX; |
412 | accx += Aktuell_ax; |
438 | accx += Aktuell_ax; |
413 | kanal = AD_GIER; |
439 | kanal = AD_GIER; |
414 | break; |
440 | break; |
415 | case 28: |
441 | case 28: |
416 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
442 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
417 | else |
443 | else |
418 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
444 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
419 | else AdWertGier = (ADC + gier1 + 1) / 2; |
445 | else AdWertGier = (ADC + gier1 + 1) / 2; |
420 | kanal = AD_NICK; |
446 | kanal = AD_NICK; |
421 | break; |
447 | break; |
422 | case 29: |
448 | case 29: |
423 | nick1 += ADC; |
449 | nick1 += ADC; |
424 | kanal = AD_ROLL; |
450 | kanal = AD_ROLL; |
425 | break; |
451 | break; |
426 | case 30: |
452 | case 30: |
427 | roll1 += ADC; |
453 | roll1 += ADC; |
428 | kanal = AD_ACC_Y; |
454 | kanal = AD_ACC_Y; |
429 | break; |
455 | break; |
430 | case 31: |
456 | case 31: |
431 | Aktuell_ay = NeutralAccY - ADC; |
457 | Aktuell_ay = NeutralAccY - ADC; |
432 | AdWertAccRoll = (Aktuell_ay + accy); |
458 | AdWertAccRoll = (Aktuell_ay + accy); |
433 | kanal = AD_NICK; |
459 | kanal = AD_NICK; |
434 | break; |
460 | break; |
435 | case 32: |
461 | case 32: |
436 | AdWertNick = (ADC + nick1 + 3) / 5; |
462 | AdWertNick = (ADC + nick1 + 3) / 5; |
437 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
463 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
438 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
464 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
439 | HiResNick = nick_filter - 20 * AdNeutralNick; |
465 | HiResNick = nick_filter - 20 * AdNeutralNick; |
440 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
466 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
441 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
467 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
442 | kanal = AD_ROLL; |
468 | kanal = AD_ROLL; |
443 | break; |
469 | break; |
444 | case 33: |
470 | case 33: |
445 | AdWertRoll = (ADC + roll1 + 3) / 5; |
471 | AdWertRoll = (ADC + roll1 + 3) / 5; |
446 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
472 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
447 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
473 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
448 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
474 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
449 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
475 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
450 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
476 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
451 | kanal = AD_ACC_X; |
477 | kanal = AD_ACC_X; |
452 | break; |
478 | break; |
453 | case 34: |
479 | case 34: |
454 | Aktuell_ax = ADC - NeutralAccX; |
480 | Aktuell_ax = ADC - NeutralAccX; |
455 | AdWertAccNick = (Aktuell_ax + accx); |
481 | AdWertAccNick = (Aktuell_ax + accx); |
456 | kanal = AD_NICK; |
482 | kanal = AD_NICK; |
457 | state = 0; |
483 | state = 0; |
458 | AdReady = 1; |
484 | AdReady = 1; |
459 | ZaehlMessungen++; |
485 | ZaehlMessungen++; |
460 | break; |
486 | break; |
461 | default: |
487 | default: |
462 | kanal = 0; |
488 | kanal = 0; |
463 | state = 0; |
489 | state = 0; |
464 | break; |
490 | break; |
465 | } |
491 | } |
466 | ADMUX = kanal; |
492 | ADMUX = kanal; |
467 | if(state != 0) ANALOG_ON; |
493 | if(state != 0) ANALOG_ON; |
468 | } |
494 | } |
469 | */ |
495 | */ |
470 | 496 |