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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + Nur f�r den privaten Gebrauch |
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| 4 | // + www.MikroKopter.com |
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| 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 6 | // + Es gilt f�r das gesamte Projekt (Hardware, Software, Bin�rfiles, Sourcecode und Dokumentation), |
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| 7 | // + dass eine Nutzung (auch auszugsweise) nur f�r den privaten und nicht-kommerziellen Gebrauch zul�ssig ist. |
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| 8 | // + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt |
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| 9 | // + bzgl. der Nutzungsbedingungen aufzunehmen. |
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| 10 | // + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Best�ckung und Verkauf von Platinen oder Baus�tzen, |
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| 11 | // + Verkauf von Luftbildaufnahmen, usw. |
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| 12 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 13 | // + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder ver�ffentlicht, |
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| 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright m�ssen dann beiliegen |
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| 15 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 16 | // + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts |
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| 17 | // + auf anderen Webseiten oder Medien ver�ffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| 18 | // + eindeutig als Ursprung verlinkt und genannt werden |
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| 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 20 | // + Keine Gew�hr auf Fehlerfreiheit, Vollst�ndigkeit oder Funktion |
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| 21 | // + Benutzung auf eigene Gefahr |
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| 22 | // + Wir �bernehmen keinerlei Haftung f�r direkte oder indirekte Personen- oder Sachsch�den |
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| 23 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 24 | // + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur |
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| 25 | // + mit unserer Zustimmung zul�ssig |
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| 26 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 27 | // + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen |
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| 28 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 29 | // + Redistributions of source code (with or without modifications) must retain the above copyright notice, |
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| 30 | // + this list of conditions and the following disclaimer. |
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| 31 | // + * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived |
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| 32 | // + from this software without specific prior written permission. |
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| 33 | // + * The use of this project (hardware, software, binary files, sources and documentation) is only permittet |
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| 34 | // + for non-commercial use (directly or indirectly) |
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| 35 | // + Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted |
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| 36 | // + with our written permission |
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| 37 | // + * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be |
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| 38 | // + clearly linked as origin |
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| 39 | // + * porting to systems other than hardware from www.mikrokopter.de is not allowed |
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| 40 | // + THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" |
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| 41 | // + AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE |
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| 42 | // + IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE |
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| 43 | // + ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE |
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| 44 | // + LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR |
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| 45 | // + CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF |
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| 46 | // + SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS |
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| 47 | // + INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN |
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| 48 | // + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| 49 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| 50 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 51 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 52 | #include <avr/io.h> |
1 | #include <avr/io.h> |
| 53 | #include <avr/interrupt.h> |
2 | #include <avr/interrupt.h> |
| 54 | #include <avr/pgmspace.h> |
3 | #include <avr/pgmspace.h> |
| Line 55... | Line 4... | ||
| 55 | 4 | ||
| Line 174... | Line 123... | ||
| 174 | 123 | ||
| 175 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
124 | // Value of AIRPRESSURE_OVERSAMPLING samples, with range, filtered. |
| 176 | int32_t filteredAirPressure; |
125 | int32_t filteredAirPressure; |
| Line 177... | Line 126... | ||
| 177 | int32_t lastFilteredAirPressure; |
126 | int32_t lastFilteredAirPressure; |
| 178 | 127 | ||
| 179 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 64 |
128 | #define MAX_AIRPRESSURE_WINDOW_LENGTH 32 |
| 180 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
129 | int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
| Line 181... | Line 130... | ||
| 181 | int32_t windowedAirPressure; |
130 | int32_t windowedAirPressure; |
| Line 273... | Line 222... | ||
| 273 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
222 | ADCSRB &= ~((1<<ADTS2)|(1<<ADTS1)|(1<<ADTS0)); |
| Line 274... | Line 223... | ||
| 274 | 223 | ||
| 275 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
224 | for (uint8_t i=0; i<MAX_AIRPRESSURE_WINDOW_LENGTH; i++) { |
| 276 | airPressureWindow[i] = 0; |
225 | airPressureWindow[i] = 0; |
| 277 | } |
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| 278 | 226 | } |
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| Line 279... | Line 227... | ||
| 279 | windowedAirPressure = 0; |
227 | windowedAirPressure = 0; |
| Line 280... | Line 228... | ||
| 280 | 228 | ||
| Line 511... | Line 459... | ||
| 511 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
459 | // The best oversampling count is 14.5. We add a quarter of the double ADC value to get the final half. |
| 512 | airPressureSum += simpleAirPressure >> 2; |
460 | airPressureSum += simpleAirPressure >> 2; |
| Line 513... | Line 461... | ||
| 513 | 461 | ||
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| - | 462 | lastFilteredAirPressure = filteredAirPressure; |
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| 514 | lastFilteredAirPressure = filteredAirPressure; |
463 | |
| 515 | 464 | ||
| 516 | if (!staticParams.airpressureWindowLength) { |
465 | if (!staticParams.airpressureWindowLength) { |
| 517 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
466 | filteredAirPressure = (filteredAirPressure * (staticParams.airpressureFilterConstant - 1) |
| 518 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
467 | + airPressureSum + staticParams.airpressureFilterConstant / 2) / staticParams.airpressureFilterConstant; |
| 519 | } else { |
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| 520 | // use windowed. |
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| 521 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
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| 522 | } |
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| 523 | pressureMeasurementCount = airPressureSum = 0; |
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| 524 | } |
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| 525 | //int16_t airPressureWindow[MAX_AIRPRESSURE_WINDOW_LENGTH]; |
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| 526 | //int32_t windowedAirPressure = 0; |
468 | } else { |
| 527 | //uint8_t windowPtr; |
469 | // use windowed. |
| 528 | windowedAirPressure += simpleAirPressure; |
470 | windowedAirPressure += simpleAirPressure; |
| 529 | windowedAirPressure -= airPressureWindow[windowPtr]; |
471 | windowedAirPressure -= airPressureWindow[windowPtr]; |
| - | 472 | airPressureWindow[windowPtr] = simpleAirPressure; |
|
| - | 473 | windowPtr = (windowPtr+1) % staticParams.airpressureWindowLength; |
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| - | 474 | filteredAirPressure = windowedAirPressure / staticParams.airpressureWindowLength; |
|
| - | 475 | } |
|
| - | 476 | ||
| 530 | airPressureWindow[windowPtr] = simpleAirPressure; |
477 | pressureMeasurementCount = airPressureSum = 0; |
| 531 | windowPtr = (windowPtr+1) % staticParams.airpressureWindowLength; |
478 | } |
| Line 532... | Line 479... | ||
| 532 | } |
479 | } |
| 533 | } |
480 | } |