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| Rev 701 | Rev 703 | ||
|---|---|---|---|
| Line 23... | Line 23... | ||
| 23 | volatile uint8_t messanzahl_AccHoch = 0; |
23 | volatile uint8_t messanzahl_AccHoch = 0; |
| 24 | volatile int32_t AirPressure = 32000; |
24 | volatile int32_t AirPressure = 32000; |
| 25 | volatile int16_t StartAirPressure; |
25 | volatile int16_t StartAirPressure; |
| 26 | volatile uint16_t ReadingAirPressure = 1023; |
26 | volatile uint16_t ReadingAirPressure = 1023; |
| 27 | uint8_t DruckOffsetSetting; |
27 | uint8_t DruckOffsetSetting; |
| 28 | volatile int16_t HoeheD = 0; |
28 | volatile int16_t HightD = 0; |
| 29 | volatile int16_t tmpAirPressure; |
29 | volatile int16_t tmpAirPressure; |
| 30 | volatile uint16_t ZaehlMessungen = 0; |
30 | volatile uint16_t ZaehlMessungen = 0; |
| Line 31... | Line 31... | ||
| 31 | 31 | ||
| 32 | /*****************************************************/ |
32 | /*****************************************************/ |
| Line 85... | Line 85... | ||
| 85 | /*****************************************************/ |
85 | /*****************************************************/ |
| 86 | ISR(ADC_vect) |
86 | ISR(ADC_vect) |
| 87 | { |
87 | { |
| 88 | static uint8_t adc_channel = 0, state = 0; |
88 | static uint8_t adc_channel = 0, state = 0; |
| 89 | static uint16_t yaw1, roll1, pitch1; |
89 | static uint16_t yaw1, roll1, pitch1; |
| 90 | static uint8_t messanzahl_Druck = 0; |
90 | static uint8_t average_pressure = 0; |
| 91 | // disable further AD conversion |
91 | // disable further AD conversion |
| 92 | ADC_Disable(); |
92 | ADC_Disable(); |
| 93 | // state machine |
93 | // state machine |
| 94 | switch(state++) |
94 | switch(state++) |
| 95 | { |
95 | { |
| Line 157... | Line 157... | ||
| 157 | Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen |
157 | Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen |
| 158 | adc_channel = 3; // set next channel to ADC3 = air pressure |
158 | adc_channel = 3; // set next channel to ADC3 = air pressure |
| 159 | break; |
159 | break; |
| 160 | case 10: |
160 | case 10: |
| 161 | tmpAirPressure += ADC; // sum vadc values |
161 | tmpAirPressure += ADC; // sum vadc values |
| 162 | if(++messanzahl_Druck >= 5) // if 5 values are summerized for averaging |
162 | if(++average_pressure >= 5) // if 5 values are summerized for averaging |
| 163 | { |
163 | { |
| 164 | ReadingAirPressure = ADC; // update measured air pressure |
164 | ReadingAirPressure = ADC; // update measured air pressure |
| 165 | messanzahl_Druck = 0; // reset air pressure measurement counter |
165 | average_pressure = 0; // reset air pressure measurement counter |
| 166 | HoeheD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHight); // D-Anteil = neuerWert - AlterWert |
166 | HightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHight); // D-Anteil = neuerWert - AlterWert |
| 167 | AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
167 | AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
| 168 | ReadingHight = StartAirPressure - AirPressure; |
168 | ReadingHight = StartAirPressure - AirPressure; |
| 169 | tmpAirPressure = 0; |
169 | tmpAirPressure = 0; |
| 170 | } |
170 | } |
| 171 | adc_channel = 0; // set next channel to ADC0 = GIER GYRO |
171 | adc_channel = 0; // set next channel to ADC0 = GIER GYRO |