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1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
3 | // + only for non-profit use |
3 | // + only for non-profit use |
4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
7 | 7 | ||
8 | #include "main.h" |
8 | #include "main.h" |
9 | 9 | ||
10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
11 | volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
11 | volatile int AccumulateNick = 0, AccumulateRoll = 0, AccumulateGier = 0; |
12 | volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
12 | volatile int accumulate_AccRoll = 0,accumulate_AccNick = 0,accumulate_AccHoch = 0; |
13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
14 | volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
14 | volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
15 | volatile long Luftdruck = 32000; |
15 | volatile long Luftdruck = 32000; |
16 | volatile int StartLuftdruck; |
16 | volatile int StartLuftdruck; |
17 | volatile unsigned int MessLuftdruck = 1023; |
17 | volatile unsigned int MessLuftdruck = 1023; |
18 | unsigned char DruckOffsetSetting; |
18 | unsigned char DruckOffsetSetting; |
19 | volatile int HoeheD = 0; |
19 | volatile int HoeheD = 0; |
20 | volatile char messanzahl_Druck; |
20 | volatile char messanzahl_Druck; |
21 | volatile int tmpLuftdruck; |
21 | volatile int tmpLuftdruck; |
22 | volatile unsigned int ZaehlMessungen = 0; |
22 | volatile unsigned int ZaehlMessungen = 0; |
23 | 23 | ||
24 | //####################################################################################### |
24 | //####################################################################################### |
25 | // |
25 | // |
26 | void ADC_Init(void) |
26 | void ADC_Init(void) |
27 | //####################################################################################### |
27 | //####################################################################################### |
28 | { |
28 | { |
29 | ADMUX = 0;//Referenz ist extern |
29 | ADMUX = 0;//Referenz ist extern |
30 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
30 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
31 | //Free Running Mode, Division Factor 128, Interrupt on |
31 | //Free Running Mode, Division Factor 128, Interrupt on |
32 | } |
32 | } |
33 | 33 | ||
34 | void SucheLuftruckOffset(void) |
34 | void SucheLuftruckOffset(void) |
35 | { |
35 | { |
36 | unsigned int off; |
36 | unsigned int off; |
37 | for(off=0; off < 250;off++) |
37 | for(off=0; off < 250;off++) |
38 | { |
38 | { |
39 | OCR0A = off; |
39 | OCR0A = off; |
40 | Delay_ms(50); |
40 | Delay_ms(50); |
41 | printf("."); |
41 | printf("."); |
42 | if(MessLuftdruck < 900) break; |
42 | if(MessLuftdruck < 900) break; |
43 | } |
43 | } |
44 | DruckOffsetSetting = off; |
44 | DruckOffsetSetting = off; |
45 | Delay_ms(200); |
45 | Delay_ms(200); |
46 | } |
46 | } |
47 | 47 | ||
48 | 48 | ||
49 | //####################################################################################### |
49 | //####################################################################################### |
50 | // |
50 | // |
51 | SIGNAL(SIG_ADC) |
51 | SIGNAL(SIG_ADC) |
52 | //####################################################################################### |
52 | //####################################################################################### |
53 | { |
53 | { |
54 | static unsigned char kanal=0,state = 0; |
54 | static unsigned char kanal=0,state = 0; |
55 | signed int wert; |
55 | signed int wert; |
56 | ANALOG_OFF; |
56 | ANALOG_OFF; |
57 | switch(state++) |
57 | switch(state++) |
58 | { |
58 | { |
59 | case 0: |
59 | case 0: |
60 | wert = (signed int) AdNeutralGier - ADC; |
60 | wert = (signed int) AdNeutralGier - ADC; |
61 | AccumulateGier += wert; // |
61 | AccumulateGier += wert; // |
62 | MessanzahlGier++; |
62 | MessanzahlGier++; |
63 | Mess_Integral_Gier += wert;// / 16; |
63 | Mess_Integral_Gier += wert;// / 16; |
64 | Mess_Integral_Gier2 += wert; |
64 | Mess_Integral_Gier2 += wert; |
65 | GyroKomp_Int += wert; |
65 | GyroKomp_Int += wert; |
66 | GyroKomp_Int2 += wert; |
- | |
67 | kanal = 1; |
66 | kanal = 1; |
68 | ZaehlMessungen++; |
67 | ZaehlMessungen++; |
69 | break; |
68 | break; |
70 | case 1: |
69 | case 1: |
71 | wert = (signed int) ADC - AdNeutralRoll; |
70 | wert = (signed int) ADC - AdNeutralRoll; |
72 | Mess_IntegralRoll += wert; |
71 | Mess_IntegralRoll += wert; |
73 | Mess_IntegralRoll2 += wert; |
72 | Mess_IntegralRoll2 += wert; |
74 | if(ADC < 10) wert = -700; |
73 | if(ADC < 10) wert = -700; |
75 | if(ADC > 1000) wert = +700; |
74 | if(ADC > 1000) wert = +700; |
76 | AccumulateRoll += wert; |
75 | AccumulateRoll += wert; |
77 | MessanzahlRoll++; |
76 | MessanzahlRoll++; |
78 | kanal = 2; |
77 | kanal = 2; |
79 | break; |
78 | break; |
80 | case 2: |
79 | case 2: |
81 | wert = (signed int) ADC - AdNeutralNick; |
80 | wert = (signed int) ADC - AdNeutralNick; |
82 | Mess_IntegralNick += wert; |
81 | Mess_IntegralNick += wert; |
83 | Mess_IntegralNick2 += wert; |
82 | Mess_IntegralNick2 += wert; |
84 | if(ADC < 10) wert = -700; |
83 | if(ADC < 10) wert = -700; |
85 | if(ADC > 1000) wert = +700; |
84 | if(ADC > 1000) wert = +700; |
86 | AccumulateNick += wert; |
85 | AccumulateNick += wert; |
87 | MessanzahlNick++; |
86 | MessanzahlNick++; |
88 | kanal = 4; |
87 | kanal = 4; |
89 | break; |
88 | break; |
90 | case 3: |
89 | case 3: |
91 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
90 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
92 | kanal = 6; |
91 | kanal = 6; |
93 | break; |
92 | break; |
94 | case 4: |
93 | case 4: |
95 | Aktuell_ay = NeutralAccY - ADC; |
94 | Aktuell_ay = NeutralAccY - ADC; |
96 | accumulate_AccRoll += Aktuell_ay; |
95 | accumulate_AccRoll += Aktuell_ay; |
97 | messanzahl_AccRoll++; |
96 | messanzahl_AccRoll++; |
98 | kanal = 7; |
97 | kanal = 7; |
99 | break; |
98 | break; |
100 | case 5: |
99 | case 5: |
101 | Aktuell_ay = ADC - NeutralAccX; |
100 | Aktuell_ay = ADC - NeutralAccX; |
102 | accumulate_AccNick += Aktuell_ay; |
101 | accumulate_AccNick += Aktuell_ay; |
103 | messanzahl_AccNick++; |
102 | messanzahl_AccNick++; |
104 | kanal = 5; |
103 | kanal = 5; |
105 | state = 6; |
104 | state = 6; |
106 | break; |
105 | break; |
107 | case 6: |
106 | case 6: |
108 | accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
107 | accumulate_AccHoch = (signed int) ADC - NeutralAccZ; |
109 | accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
108 | accumulate_AccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
110 | if(accumulate_AccHoch > 1) |
109 | if(accumulate_AccHoch > 1) |
111 | { |
110 | { |
112 | if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
111 | if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
113 | } |
112 | } |
114 | else if(accumulate_AccHoch < -1) |
113 | else if(accumulate_AccHoch < -1) |
115 | { |
114 | { |
116 | if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
115 | if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
117 | } |
116 | } |
118 | messanzahl_AccHoch = 1; |
117 | messanzahl_AccHoch = 1; |
119 | Aktuell_az = ADC; |
118 | Aktuell_az = ADC; |
120 | Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
119 | Mess_Integral_Hoch += accumulate_AccHoch; // Integrieren |
121 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
120 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
122 | // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
121 | // Mess_Integral_Hoch -= Mess_Integral_Hoch / 512; // dämfen |
123 | /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
122 | /* if(EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) |
124 | { |
123 | { |
125 | kanal = 3; |
124 | kanal = 3; |
126 | state = 7; |
125 | state = 7; |
127 | } |
126 | } |
128 | else |
127 | else |
129 | { |
128 | { |
130 | kanal = 0; |
129 | kanal = 0; |
131 | state = 0; |
130 | state = 0; |
132 | }*/ |
131 | }*/ |
133 | kanal = 3; |
132 | kanal = 3; |
134 | state = 7; |
133 | state = 7; |
135 | break; |
134 | break; |
136 | case 7: |
135 | case 7: |
137 | tmpLuftdruck += ADC; |
136 | tmpLuftdruck += ADC; |
138 | if(++messanzahl_Druck >= 5) |
137 | if(++messanzahl_Druck >= 5) |
139 | { |
138 | { |
140 | MessLuftdruck = ADC; |
139 | MessLuftdruck = ADC; |
141 | messanzahl_Druck = 0; |
140 | messanzahl_Druck = 0; |
142 | HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
141 | HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
143 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
142 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
144 | HoehenWert = StartLuftdruck - Luftdruck; |
143 | HoehenWert = StartLuftdruck - Luftdruck; |
145 | tmpLuftdruck = 0; |
144 | tmpLuftdruck = 0; |
146 | } |
145 | } |
147 | kanal = 0; |
146 | kanal = 0; |
148 | state = 0; |
147 | state = 0; |
149 | break; |
148 | break; |
150 | default: |
149 | default: |
151 | kanal = 0; |
150 | kanal = 0; |
152 | state = 0; |
151 | state = 0; |
153 | break; |
152 | break; |
154 | } |
153 | } |
155 | ADMUX = kanal; |
154 | ADMUX = kanal; |
156 | ANALOG_ON; |
155 | ANALOG_ON; |
157 | } |
156 | } |
158 | 157 |