WebSVN - FlightCtrl - Diff - Rev 1982 and 2008


// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
// + 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 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;
 
 
//#######################################################################################
 
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] |= FC_ERROR0_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] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;};
   if(AnalogOffsetRoll < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;};
   if(AnalogOffsetGier < 10)  { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW;  AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] |= FC_ERROR0_GYRO_YAW;  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;
    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:
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
            if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference
                        else  
#endif
                        UBat = (3 * UBat + ADC / 3) / 4;
                    kanal = AD_ACC_Z;
            break;
       case 8:
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
            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;}
                }
             }
//            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;
            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;
            AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
                kanal = AD_DRUCK;
            break;
        case 17:
            state = 0;
                        AdReady = 1;
            ZaehlMessungen++;
            // "break" fehlt hier absichtlich
        case 9:
                MessLuftdruck = ADC;
            tmpLuftdruck += MessLuftdruck;
            if(++messanzahl_Druck >= 18)
            {
                            signed int tmp;
                                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;
                                tmp = (HoehenWert - SummenHoehe/SM_FILTER);
                                if(tmp > 1024) tmp = 1024;      else if(tmp < -1024) tmp = -1024;
                if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16;
                                else VarioMeter = (31 * VarioMeter + 8 * tmp)/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 1982	Rev 2008
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;	-
17	volatile long Luftdruck = 32000;	16	volatile long Luftdruck = 32000;
18	volatile long SummenHoehe = 0;	17	volatile long SummenHoehe = 0;
19	volatile int StartLuftdruck;	18	volatile int StartLuftdruck;
20	volatile unsigned int MessLuftdruck = 1023;	19	volatile unsigned int MessLuftdruck = 1023;
21	unsigned char DruckOffsetSetting;	20	unsigned char DruckOffsetSetting;
22	signed char ExpandBaro = 0;	21	signed char ExpandBaro = 0;
23	volatile int VarioMeter = 0;	22	volatile int VarioMeter = 0;
24	volatile unsigned int ZaehlMessungen = 0;	23	volatile unsigned int ZaehlMessungen = 0;
25	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;	24	unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115;
26	volatile unsigned char AdReady = 1;	25	volatile unsigned char AdReady = 1;
27	float NeutralAccZ_float;	-
-		26
28	//#######################################################################################	27	//#######################################################################################
29	//	-
30	void ADC_Init(void)	28	void ADC_Init(void)
31	//#######################################################################################	29	//#######################################################################################
32	{	30	{
33	ADMUX = 0;//Referenz ist extern	31	ADMUX = 0;//Referenz ist extern
34	ANALOG_ON;	32	ANALOG_ON;
35	}	33	}
36		34
37	#define DESIRED_H_ADC 800	35	#define DESIRED_H_ADC 800
38		36
39	void SucheLuftruckOffset(void)	37	void SucheLuftruckOffset(void)
40	{	38	{
41	unsigned int off;	39	unsigned int off;
42	ExpandBaro = 0;	40	ExpandBaro = 0;
43		41
44	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	42	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
45	{	43	{
46	unsigned char off2;	44	unsigned char off2;
47	OCR0A = 150;	45	OCR0A = 150;
48	off2 = GetParamByte(PID_PRESSURE_OFFSET);	46	off2 = GetParamByte(PID_PRESSURE_OFFSET);
49	if(off2 < 230) off2 += 10;	47	if(off2 < 230) off2 += 10;
50	OCR0B = off2;	48	OCR0B = off2;
51	Delay_ms_Mess(100);	49	Delay_ms_Mess(100);
52	if(MessLuftdruck > DESIRED_H_ADC) off2 = 240;	50	if(MessLuftdruck > DESIRED_H_ADC) off2 = 240;
53	for(; off2 >= 5; off2 -= 5)	51	for(; off2 >= 5; off2 -= 5)
54	{	52	{
55	OCR0B = off2;	53	OCR0B = off2;
56	Delay_ms_Mess(50);	54	Delay_ms_Mess(50);
57	printf("*");	55	printf("*");
58	if(MessLuftdruck > DESIRED_H_ADC) break;	56	if(MessLuftdruck > DESIRED_H_ADC) break;
59	}	57	}
60	SetParamByte(PID_PRESSURE_OFFSET, off2);	58	SetParamByte(PID_PRESSURE_OFFSET, off2);
61	if(off2 >= 15) off = 140; else off = 0;	59	if(off2 >= 15) off = 140; else off = 0;
62	for(; off < 250;off++)	60	for(; off < 250;off++)
63	{	61	{
64	OCR0A = off;	62	OCR0A = off;
65	Delay_ms_Mess(50);	63	Delay_ms_Mess(50);
66	printf(".");	64	printf(".");
67	if(MessLuftdruck < DESIRED_H_ADC) break;	65	if(MessLuftdruck < DESIRED_H_ADC) break;
68	}	66	}
69	DruckOffsetSetting = off;	67	DruckOffsetSetting = off;
70	}	68	}
71	#else	69	#else
72	off = GetParamByte(PID_PRESSURE_OFFSET);	70	off = GetParamByte(PID_PRESSURE_OFFSET);
73	if(off > 20) off -= 10;	71	if(off > 20) off -= 10;
74	OCR0A = off;	72	OCR0A = off;
75	Delay_ms_Mess(100);	73	Delay_ms_Mess(100);
76	if(MessLuftdruck < DESIRED_H_ADC) off = 0;	74	if(MessLuftdruck < DESIRED_H_ADC) off = 0;
77	for(; off < 250;off++)	75	for(; off < 250;off++)
78	{	76	{
79	OCR0A = off;	77	OCR0A = off;
80	Delay_ms_Mess(50);	78	Delay_ms_Mess(50);
81	printf(".");	79	printf(".");
82	if(MessLuftdruck < DESIRED_H_ADC) break;	80	if(MessLuftdruck < DESIRED_H_ADC) break;
83	}	81	}
84	DruckOffsetSetting = off;	82	DruckOffsetSetting = off;
85	SetParamByte(PID_PRESSURE_OFFSET, off);	83	SetParamByte(PID_PRESSURE_OFFSET, off);
86	#endif	84	#endif
87	if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 \|\| DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] \|= FC_ERROR0_PRESSURE;	85	if((EE_Parameter.GlobalConfig & CFG_HOEHENREGELUNG) && (DruckOffsetSetting < 10 \|\| DruckOffsetSetting >= 245)) VersionInfo.HardwareError[0] \|= FC_ERROR0_PRESSURE;
88	OCR0A = off;	86	OCR0A = off;
89	Delay_ms_Mess(300);	87	Delay_ms_Mess(300);
90	}	88	}
91		89
92		90
93	void SucheGyroOffset(void)	91	void SucheGyroOffset(void)
94	{	92	{
95	unsigned char i, ready = 0;	93	unsigned char i, ready = 0;
96	int timeout;	94	int timeout;
97	timeout = SetDelay(2000);	95	timeout = SetDelay(2000);
98	for(i=140; i != 0; i--)	96	for(i=140; i != 0; i--)
99	{	97	{
100	if(ready == 3 && i > 10) i = 9;	98	if(ready == 3 && i > 10) i = 9;
101	ready = 0;	99	ready = 0;
102	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;	100	if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++;
103	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;	101	if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++;
104	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;	102	if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++;
105	I2C_Start(TWI_STATE_GYRO_OFFSET_TX);	103	I2C_Start(TWI_STATE_GYRO_OFFSET_TX);
106	if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;};	104	if(AnalogOffsetNick < 10) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_NICK; AnalogOffsetNick = 245;};
107	if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;};	105	if(AnalogOffsetRoll < 10) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_ROLL; AnalogOffsetRoll = 245;};
108	if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 245;};	106	if(AnalogOffsetGier < 10) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { VersionInfo.HardwareError[0] \|= FC_ERROR0_GYRO_YAW; AnalogOffsetGier = 245;};
109	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}	107	while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;}
110	AdReady = 0;	108	AdReady = 0;
111	ANALOG_ON;	109	ANALOG_ON;
112	while(!AdReady);	110	while(!AdReady);
113	if(i<10) Delay_ms_Mess(10);	111	if(i<10) Delay_ms_Mess(10);
114	}	112	}
115	Delay_ms_Mess(70);	113	Delay_ms_Mess(70);
116	}	114	}
117		115
118	/*	116	/*
119	0 n	117	0 n
120	1 r	118	1 r
121	2 g	119	2 g
122	3 y	120	3 y
123	4 x	121	4 x
124	5 n	122	5 n
125	6 r	123	6 r
126	7 u	124	7 u
127	8 z	125	8 z
128	9 L	126	9 L
129	10 n	127	10 n
130	11 r	128	11 r
131	12 g	129	12 g
132	13 y	130	13 y
133	14 x	131	14 x
134	15 n	132	15 n
135	16 r	133	16 r
136	17 L	134	17 L
137	*/	135	*/
138		136
139	//#######################################################################################	137	//#######################################################################################
140	//	138	//
141	ISR(ADC_vect)	139	ISR(ADC_vect)
142	//#######################################################################################	140	//#######################################################################################
143	{	141	{
144	static unsigned char kanal=0,state = 0;	142	static unsigned char kanal=0,state = 0;
145	static signed char subcount = 0;	143	static signed char subcount = 0;
146	static signed int gier1, roll1, nick1, nick_filter, roll_filter;	144	static signed int gier1, roll1, nick1, nick_filter, roll_filter;
147	static signed int accy, accx;	145	static signed int accy, accx;
148	static long tmpLuftdruck = 0;	146	static long tmpLuftdruck = 0;
149	static char messanzahl_Druck = 0;	147	static char messanzahl_Druck = 0;
150	switch(state++)	148	switch(state++)
151	{	149	{
152	case 0:	150	case 0:
153	nick1 = ADC;	151	nick1 = ADC;
154	kanal = AD_ROLL;	152	kanal = AD_ROLL;
155	break;	153	break;
156	case 1:	154	case 1:
157	roll1 = ADC;	155	roll1 = ADC;
158	kanal = AD_GIER;	156	kanal = AD_GIER;
159	break;	157	break;
160	case 2:	158	case 2:
161	gier1 = ADC;	159	gier1 = ADC;
162	kanal = AD_ACC_Y;	160	kanal = AD_ACC_Y;
163	break;	161	break;
164	case 3:	162	case 3:
165	Aktuell_ay = NeutralAccY - ADC;	163	Aktuell_ay = NeutralAccY - ADC;
166	accy = Aktuell_ay;	164	accy = Aktuell_ay;
167	kanal = AD_ACC_X;	165	kanal = AD_ACC_X;
168	break;	166	break;
169	case 4:	167	case 4:
170	Aktuell_ax = ADC - NeutralAccX;	168	Aktuell_ax = ADC - NeutralAccX;
171	accx = Aktuell_ax;	169	accx = Aktuell_ax;
172	kanal = AD_NICK;	170	kanal = AD_NICK;
173	break;	171	break;
174	case 5:	172	case 5:
175	nick1 += ADC;	173	nick1 += ADC;
176	kanal = AD_ROLL;	174	kanal = AD_ROLL;
177	break;	175	break;
178	case 6:	176	case 6:
179	roll1 += ADC;	177	roll1 += ADC;
180	kanal = AD_UBAT;	178	kanal = AD_UBAT;
181	break;	179	break;
182	case 7:	180	case 7:
183	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))	181	#if (defined(__AVR_ATmega1284__) \|\| defined(__AVR_ATmega1284P__))
184	if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference	182	if(EE_Parameter.ExtraConfig & CFG_3_3V_REFERENCE) UBat = (3 * UBat + (11 * ADC) / 30) / 4; // there were some single FC2.1 with 3.3V reference
185	else	183	else
186	#endif	184	#endif
187	UBat = (3 * UBat + ADC / 3) / 4;	185	UBat = (3 * UBat + ADC / 3) / 4;
188	kanal = AD_ACC_Z;	186	kanal = AD_ACC_Z;
189	break;	187	break;
190	case 8:	188	case 8:
191	AdWertAccHoch = (signed int) ADC - NeutralAccZ;	189	AdWertAccHoch = (signed int) ADC - NeutralAccZ;
192	if(AdWertAccHoch > 1)	190	if(AdWertAccHoch > 1)
193	{	191	{
194	if(NeutralAccZ < 750)	192	if(NeutralAccZ < 750)
195	{	193	{
196	subcount += 5;	194	subcount += 5;
197	if(modell_fliegt < 500) subcount += 10;	195	if(modell_fliegt < 500) subcount += 10;
198	}	196	}
199	if(subcount > 100) { NeutralAccZ++; subcount -= 100;}	197	if(subcount > 100) { NeutralAccZ++; subcount -= 100;}
200	}	198	}
201	else if(AdWertAccHoch < -1)	199	else if(AdWertAccHoch < -1)
202	{	200	{
203	if(NeutralAccZ > 550)	201	if(NeutralAccZ > 550)
204	{	202	{
205	subcount -= 5;	203	subcount -= 5;
206	if(modell_fliegt < 500) subcount -= 10;	204	if(modell_fliegt < 500) subcount -= 10;
207	if(subcount < -100) { NeutralAccZ--; subcount += 100;}	205	if(subcount < -100) { NeutralAccZ--; subcount += 100;}
208	}	206	}
209	}	207	}
210	messanzahl_AccHoch = 1;	208	// messanzahl_AccHoch = 1;
211	Aktuell_az = ADC;	209	Aktuell_az = ADC;
212	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren	210	Mess_Integral_Hoch += AdWertAccHoch; // Integrieren
213	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen	211	Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
214	kanal = AD_DRUCK;	212	kanal = AD_DRUCK;
215	break;	213	break;
216	// "case 9:" fehlt hier absichtlich	214	// "case 9:" fehlt hier absichtlich
217	case 10:	215	case 10:
218	nick1 += ADC;	216	nick1 += ADC;
219	kanal = AD_ROLL;	217	kanal = AD_ROLL;
220	break;	218	break;
221	case 11:	219	case 11:
222	roll1 += ADC;	220	roll1 += ADC;
223	kanal = AD_GIER;	221	kanal = AD_GIER;
224	break;	222	break;
225	case 12:	223	case 12:
226	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;	224	if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2;
227	else	225	else
228	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);	226	if(PlatinenVersion >= 20) AdWertGier = 2047 - (ADC + gier1);
229	else AdWertGier = (ADC + gier1);	227	else AdWertGier = (ADC + gier1);
230	kanal = AD_ACC_Y;	228	kanal = AD_ACC_Y;
231	break;	229	break;
232	case 13:	230	case 13:
233	Aktuell_ay = NeutralAccY - ADC;	231	Aktuell_ay = NeutralAccY - ADC;
234	AdWertAccRoll = (Aktuell_ay + accy);	232	AdWertAccRoll = (Aktuell_ay + accy);
235	kanal = AD_ACC_X;	233	kanal = AD_ACC_X;
236	break;	234	break;
237	case 14:	235	case 14:
238	Aktuell_ax = ADC - NeutralAccX;	236	Aktuell_ax = ADC - NeutralAccX;
239	AdWertAccNick = (Aktuell_ax + accx);	237	AdWertAccNick = (Aktuell_ax + accx);
240	kanal = AD_NICK;	238	kanal = AD_NICK;
241	break;	239	break;
242	case 15:	240	case 15:
243	nick1 += ADC;	241	nick1 += ADC;
244	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;	242	if(PlatinenVersion == 10) nick1 = 2; else nick1 = 4;
245	AdWertNick = nick1 / 8;	243	AdWertNick = nick1 / 8;
246	nick_filter = (nick_filter + nick1) / 2;	244	nick_filter = (nick_filter + nick1) / 2;
247	HiResNick = nick_filter - AdNeutralNick;	245	HiResNick = nick_filter - AdNeutralNick;
248	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;	246	AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2;
249	kanal = AD_ROLL;	247	kanal = AD_ROLL;
250	break;	248	break;
251	case 16:	249	case 16:
252	roll1 += ADC;	250	roll1 += ADC;
253	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;	251	if(PlatinenVersion == 10) roll1 = 2; else roll1 = 4;
254	AdWertRoll = roll1 / 8;	252	AdWertRoll = roll1 / 8;
255	roll_filter = (roll_filter + roll1) / 2;	253	roll_filter = (roll_filter + roll1) / 2;
256	HiResRoll = roll_filter - AdNeutralRoll;	254	HiResRoll = roll_filter - AdNeutralRoll;
257	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;	255	AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2;
258	kanal = AD_DRUCK;	256	kanal = AD_DRUCK;
259	break;	257	break;
260	case 17:	258	case 17:
261	state = 0;	259	state = 0;
262	AdReady = 1;	260	AdReady = 1;
263	ZaehlMessungen++;	261	ZaehlMessungen++;
264	// "break" fehlt hier absichtlich	262	// "break" fehlt hier absichtlich
265	case 9:	263	case 9:
266	MessLuftdruck = ADC;	264	MessLuftdruck = ADC;
267	tmpLuftdruck += MessLuftdruck;	265	tmpLuftdruck += MessLuftdruck;
268	if(++messanzahl_Druck >= 18)	266	if(++messanzahl_Druck >= 18)
269	{	267	{
270	signed int tmp;	268	signed int tmp;
271	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step	269	Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step
272	HoehenWert = StartLuftdruck - Luftdruck;	270	HoehenWert = StartLuftdruck - Luftdruck;
273	SummenHoehe -= SummenHoehe/SM_FILTER;	271	SummenHoehe -= SummenHoehe/SM_FILTER;
274	SummenHoehe += HoehenWert;	272	SummenHoehe += HoehenWert;
275	tmp = (HoehenWert - SummenHoehe/SM_FILTER);	273	tmp = (HoehenWert - SummenHoehe/SM_FILTER);
276	if(tmp > 1024) tmp = 1024; else if(tmp < -1024) tmp = -1024;	274	if(tmp > 1024) tmp = 1024; else if(tmp < -1024) tmp = -1024;
277	if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16;	275	if(abs(VarioMeter) > 700) VarioMeter = (15 * VarioMeter + 8 * tmp)/16;
278	else VarioMeter = (31 * VarioMeter + 8 * tmp)/32;	276	else VarioMeter = (31 * VarioMeter + 8 * tmp)/32;
279	tmpLuftdruck /= 2;	277	tmpLuftdruck /= 2;
280	messanzahl_Druck = 18/2;	278	messanzahl_Druck = 18/2;
281	}	279	}
282	kanal = AD_NICK;	280	kanal = AD_NICK;
283	break;	281	break;
284	default:	282	default:
285	kanal = 0; state = 0; kanal = AD_NICK;	283	kanal = 0; state = 0; kanal = AD_NICK;
286	break;	284	break;
287	}	285	}
288	ADMUX = kanal;	286	ADMUX = kanal;
289	if(state != 0) ANALOG_ON;	287	if(state != 0) ANALOG_ON;
290	}	288	}
291		289
292		290

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(root)/tags/V0.90d/analog.c @ 2449 - Rev 1982 → 2008