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