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| 5 | // + see the File "License.txt" for further Informations |
5 | // + see the File "License.txt" for further Informations |
| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| Line 7... | Line 7... | ||
| 7 | 7 | ||
| Line 8... | Line 8... | ||
| 8 | #include "main.h" |
8 | #include "main.h" |
| 9 | 9 | ||
| - | 10 | volatile int16_t Current_Nick = 0, Current_Roll = 0, Current_Gier = 0; |
|
| 10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
11 | volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0; |
| 11 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
12 | volatile int16_t UBat = 100; |
| 12 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
13 | volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrGier = 0; |
| 13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
14 | volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0; |
| 14 | volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
15 | volatile uint8_t messanzahl_AccHoch = 0; |
| 15 | volatile long Luftdruck = 32000; |
16 | volatile int32_t Luftdruck = 32000; |
| 16 | volatile int StartLuftdruck; |
17 | volatile int16_t StartLuftdruck; |
| 17 | volatile unsigned int MessLuftdruck = 1023; |
18 | volatile uint16_t MessLuftdruck = 1023; |
| 18 | unsigned char DruckOffsetSetting; |
- | |
| 19 | volatile int HoeheD = 0; |
19 | uint8_t DruckOffsetSetting; |
| 20 | volatile char messanzahl_Druck; |
20 | volatile int16_t HoeheD = 0; |
| 21 | volatile int tmpLuftdruck; |
21 | volatile int16_t tmpLuftdruck; |
| 22 | volatile unsigned int ZaehlMessungen = 0; |
22 | volatile uint16_t ZaehlMessungen = 0; |
| 23 | - | ||
| - | 23 | ||
| - | 24 | /*****************************************************/ |
|
| 24 | //####################################################################################### |
25 | /* Initialize Analog Digital Converter */ |
| 25 | // |
- | |
| 26 | void ADC_Init(void) |
26 | /*****************************************************/ |
| - | 27 | void ADC_Init(void) |
|
| - | 28 | { |
|
| - | 29 | uint8_t sreg = SREG; |
|
| - | 30 | // disable all interrupts before reconfiguration |
|
| - | 31 | cli(); |
|
| - | 32 | //ADC0 ... ADC7 is connected to PortA pin 0 ... 7 |
|
| - | 33 | DDRA = 0x00; |
|
| - | 34 | PORTA = 0x00; |
|
| - | 35 | // Digital Input Disable Register 0 |
|
| - | 36 | // Disable digital input buffer for analog adc_channel pins |
|
| - | 37 | DIDR0 = 0xFF; |
|
| - | 38 | // external reference, adjust data to the right |
|
| 27 | //####################################################################################### |
39 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
| - | 40 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
|
| - | 41 | ADMUX = (ADMUX & 0xE0) | 0x00; |
|
| 28 | { |
42 | //Set ADC Control and Status Register A |
| - | 43 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
|
| - | 44 | ADCSRA = (1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
|
| - | 45 | //Set ADC Control and Status Register B |
|
| - | 46 | //Trigger Source to Free Running Mode |
|
| - | 47 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
|
| 29 | ADMUX = 0;//Referenz ist extern |
48 | // Enable AD conversion |
| - | 49 | ADC_Enable(); |
|
| 30 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
50 | // restore global interrupt flags |
| Line 31... | Line 51... | ||
| 31 | //Free Running Mode, Division Factor 128, Interrupt on |
51 | SREG = sreg; |
| 32 | } |
52 | } |
| 33 | 53 | ||
| Line 41... | Line 61... | ||
| 41 | if(MessLuftdruck < 850) off = 0; |
61 | if(MessLuftdruck < 850) off = 0; |
| 42 | for(; off < 250;off++) |
62 | for(; off < 250;off++) |
| 43 | { |
63 | { |
| 44 | OCR0A = off; |
64 | OCR0A = off; |
| 45 | Delay_ms_Mess(50); |
65 | Delay_ms_Mess(50); |
| 46 | printf("."); |
66 | printf("."); |
| 47 | if(MessLuftdruck < 900) break; |
67 | if(MessLuftdruck < 900) break; |
| 48 | } |
68 | } |
| 49 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
69 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| 50 | DruckOffsetSetting = off; |
70 | DruckOffsetSetting = off; |
| 51 | Delay_ms_Mess(300); |
71 | Delay_ms_Mess(300); |
| 52 | } |
72 | } |
| Line -... | Line 73... | ||
| - | 73 | ||
| - | 74 | ||
| 53 | 75 | /*****************************************************/ |
|
| 54 | - | ||
| 55 | //####################################################################################### |
76 | /* Interrupt Service Routine for ADC */ |
| 56 | // |
- | |
| 57 | SIGNAL(SIG_ADC) |
77 | /*****************************************************/ |
| 58 | //####################################################################################### |
78 | ISR(ADC_vect) |
| 59 | { |
79 | { |
| - | 80 | static uint8_t adc_channel = 0, state = 0; |
|
| - | 81 | static uint16_t gier1, roll1, nick1; |
|
| 60 | static unsigned char kanal=0,state = 0; |
82 | static uint8_t messanzahl_Druck = 0; |
| - | 83 | // disable further AD conversion |
|
| 61 | static unsigned int gier1, roll1, nick1; |
84 | ADC_Disable(); |
| 62 | ANALOG_OFF; |
85 | // state machine |
| 63 | switch(state++) |
86 | switch(state++) |
| 64 | { |
87 | { |
| 65 | case 0: |
88 | case 0: |
| 66 | gier1 = ADC; |
89 | gier1 = ADC; // get Gyro Gier Voltage 1st sample |
| 67 | kanal = 1; |
90 | adc_channel = 1; // set next channel to ADC1 = ROLL GYRO |
| 68 | ZaehlMessungen++; |
91 | ZaehlMessungen++; // increment total measurement counter |
| 69 | break; |
92 | break; |
| 70 | case 1: |
93 | case 1: |
| 71 | roll1 = ADC; |
94 | roll1 = ADC; // get Gyro Roll Voltage 1st sample |
| 72 | kanal = 2; |
95 | adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
| 73 | break; |
96 | break; |
| 74 | case 2: |
97 | case 2: |
| 75 | nick1 = ADC; |
98 | nick1 = ADC; // get Gyro Nick Voltage 1st sample |
| 76 | kanal = 4; |
99 | adc_channel = 4; // set next channel to ADC4 = UBAT |
| - | 100 | break; |
|
| 77 | break; |
101 | case 3: |
| 78 | case 3: |
102 | // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3 |
| 79 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
103 | UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value |
| 80 | kanal = 6; |
104 | adc_channel = 6; // set next channel to ADC6 = ACC_Y |
| 81 | break; |
105 | break; |
| 82 | case 4: |
106 | case 4: |
| 83 | Aktuell_ay = NeutralAccY - ADC; |
107 | Current_AccY = NeutralAccY - ADC; // get acceleration in Y direction |
| 84 | AdWertAccRoll = Aktuell_ay; |
108 | AdValueAccRoll = Current_AccY; |
| 85 | kanal = 7; |
109 | adc_channel = 7; // set next channel to ADC7 = ACC_X |
| 86 | break; |
110 | break; |
| 87 | case 5: |
111 | case 5: |
| 88 | Aktuell_ax = ADC - NeutralAccX; |
112 | Current_AccX = ADC - NeutralAccX; // get acceleration in X direction |
| 89 | AdWertAccNick = Aktuell_ax; |
113 | AdValueAccNick = Current_AccX; |
| 90 | kanal = 0; |
114 | adc_channel = 0; // set next channel to ADC7 = GIER GYRO |
| - | 115 | break; |
|
| 91 | break; |
116 | case 6: |
| 92 | case 6: |
117 | // average over two samples to create current ADValueGier |
| 93 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
118 | if(PlatinenVersion == 10) AdValueGyrGier = (ADC + gier1) / 2; |
| 94 | else AdWertGier = ADC + gier1; |
119 | else AdValueGyrGier = ADC + gier1; // gain is 2 times lower on FC 1.1 |
| 95 | kanal = 1; |
120 | adc_channel = 1; // set next channel to ADC7 = ROLL GYRO |
| - | 121 | break; |
|
| 96 | break; |
122 | case 7: |
| 97 | case 7: |
123 | // average over two samples to create current ADValueRoll |
| 98 | if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
124 | if(PlatinenVersion == 10) AdValueGyrRoll = (ADC + roll1) / 2; |
| 99 | else AdWertRoll = ADC + roll1; |
125 | else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1 |
| 100 | kanal = 2; |
126 | adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
| - | 127 | break; |
|
| 101 | break; |
128 | case 8: |
| 102 | case 8: |
129 | // average over two samples to create current ADValueNick |
| 103 | if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
- | |
| 104 | else AdWertNick = ADC + nick1; |
- | |
| 105 | //AdWertNick = 0; |
130 | if(PlatinenVersion == 10) AdValueGyrNick = (ADC + nick1) / 2; |
| 106 | //AdWertNick += Poti2; |
131 | else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1 |
| 107 | kanal = 5; |
132 | adc_channel = 5; // set next channel to ADC5 = ACC_Z |
| - | 133 | break; |
|
| 108 | break; |
134 | case 9: |
| 109 | case 9: |
135 | // get z acceleration |
| 110 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
136 | AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction |
| 111 | AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
137 | AdValueAccTop += abs(Current_AccY) / 4 + abs(Current_AccX) / 4; |
| 112 | if(AdWertAccHoch > 1) |
138 | if(AdValueAccTop > 1) |
| 113 | { |
139 | { |
| 114 | if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
140 | if(NeutralAccZ < 800) NeutralAccZ+= 0.02; |
| 115 | } |
141 | } |
| 116 | else if(AdWertAccHoch < -1) |
142 | else if(AdValueAccTop < -1) |
| 117 | { |
143 | { |
| 118 | if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
144 | if(NeutralAccZ > 600) NeutralAccZ-= 0.02; |
| 119 | } |
145 | } |
| 120 | messanzahl_AccHoch = 1; |
146 | messanzahl_AccHoch = 1; |
| 121 | Aktuell_az = ADC; |
147 | Current_AccZ = ADC; |
| 122 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
148 | Mess_Integral_Hoch += AdValueAccTop; // Integrieren |
| 123 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
149 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
| 124 | kanal = 3; |
150 | adc_channel = 3; // set next channel to ADC3 = air pressure |
| 125 | break; |
151 | break; |
| 126 | case 10: |
152 | case 10: |
| 127 | tmpLuftdruck += ADC; |
153 | tmpLuftdruck += ADC; // sum vadc values |
| 128 | if(++messanzahl_Druck >= 5) |
154 | if(++messanzahl_Druck >= 5) // if 5 values are summerized for averaging |
| 129 | { |
155 | { |
| 130 | MessLuftdruck = ADC; |
156 | MessLuftdruck = ADC; // update measured air pressure |
| 131 | messanzahl_Druck = 0; |
157 | messanzahl_Druck = 0; // reset air pressure measurement counter |
| 132 | HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
158 | HoeheD = (int16_t)(StartLuftdruck - tmpLuftdruck - HoehenWert); // D-Anteil = neuerWert - AlterWert |
| 133 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
159 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; // averaging using history |
| 134 | HoehenWert = StartLuftdruck - Luftdruck; |
160 | HoehenWert = StartLuftdruck - Luftdruck; |
| 135 | tmpLuftdruck = 0; |
161 | tmpLuftdruck = 0; |
| 136 | } |
162 | } |
| 137 | kanal = 0; |
163 | adc_channel = 0; // set next channel to ADC0 = GIER GYRO |
| 138 | state = 0; |
164 | state = 0; // reset state |
| 139 | break; |
165 | break; |
| 140 | default: |
166 | default: |
| 141 | kanal = 0; |
167 | adc_channel = 0; |
| 142 | state = 0; |
168 | state = 0; |
| - | 169 | break; |
|
| 143 | break; |
170 | } |
| - | 171 | // set adc muxer to next adc_channel |
|
| 144 | } |
172 | ADMUX = (ADMUX & 0xE0) | adc_channel; |
| 145 | ADMUX = kanal; |
173 | // ?? |