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| 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 | #include "analog.h" |
|
| 8 | #include "main.h" |
8 | #include "main.h" |
| - | 9 | #include "timer0.h" |
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| - | 10 | #include "fc.h" |
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| - | 11 | #include "printf_P.h" |
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| 9 | 12 | ||
| 10 | volatile int16_t Current_Nick = 0, Current_Roll = 0, Current_Gier = 0; |
13 | volatile int16_t Current_Nick = 0, Current_Roll = 0, Current_Gier = 0; |
| 11 | volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0; |
14 | volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0; |
| 12 | volatile int16_t UBat = 100; |
15 | volatile int16_t UBat = 100; |
| Line 16... | Line 19... | ||
| 16 | volatile int32_t Luftdruck = 32000; |
19 | volatile int32_t Luftdruck = 32000; |
| 17 | volatile int16_t StartLuftdruck; |
20 | volatile int16_t StartLuftdruck; |
| 18 | volatile uint16_t MessLuftdruck = 1023; |
21 | volatile uint16_t MessLuftdruck = 1023; |
| 19 | uint8_t DruckOffsetSetting; |
22 | uint8_t DruckOffsetSetting; |
| 20 | volatile int16_t HoeheD = 0; |
23 | volatile int16_t HoeheD = 0; |
| 21 | volatile int16_t tmpLuftdruck; |
24 | volatile int16_t tmpLuftdruck; |
| 22 | volatile uint16_t ZaehlMessungen = 0; |
25 | volatile uint16_t ZaehlMessungen = 0; |
| Line 23... | Line 26... | ||
| 23 | 26 | ||
| 24 | /*****************************************************/ |
27 | /*****************************************************/ |
| 25 | /* Initialize Analog Digital Converter */ |
28 | /* Initialize Analog Digital Converter */ |
| Line 113... | Line 116... | ||
| 113 | AdValueAccNick = Current_AccX; |
116 | AdValueAccNick = Current_AccX; |
| 114 | adc_channel = 0; // set next channel to ADC7 = GIER GYRO |
117 | adc_channel = 0; // set next channel to ADC7 = GIER GYRO |
| 115 | break; |
118 | break; |
| 116 | case 6: |
119 | case 6: |
| 117 | // average over two samples to create current ADValueGier |
120 | // average over two samples to create current ADValueGier |
| 118 | if(PlatinenVersion == 10) AdValueGyrGier = (ADC + gier1) / 2; |
121 | if(BoardRelease == 10) AdValueGyrGier = (ADC + gier1) / 2; |
| 119 | else AdValueGyrGier = ADC + gier1; // gain is 2 times lower on FC 1.1 |
122 | else AdValueGyrGier = ADC + gier1; // gain is 2 times lower on FC 1.1 |
| 120 | adc_channel = 1; // set next channel to ADC7 = ROLL GYRO |
123 | adc_channel = 1; // set next channel to ADC7 = ROLL GYRO |
| 121 | break; |
124 | break; |
| 122 | case 7: |
125 | case 7: |
| 123 | // average over two samples to create current ADValueRoll |
126 | // average over two samples to create current ADValueRoll |
| 124 | if(PlatinenVersion == 10) AdValueGyrRoll = (ADC + roll1) / 2; |
127 | if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2; |
| 125 | else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1 |
128 | else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1 |
| 126 | adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
129 | adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
| 127 | break; |
130 | break; |
| 128 | case 8: |
131 | case 8: |
| 129 | // average over two samples to create current ADValueNick |
132 | // average over two samples to create current ADValueNick |
| 130 | if(PlatinenVersion == 10) AdValueGyrNick = (ADC + nick1) / 2; |
133 | if(BoardRelease == 10) AdValueGyrNick = (ADC + nick1) / 2; |
| 131 | else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1 |
134 | else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1 |
| 132 | adc_channel = 5; // set next channel to ADC5 = ACC_Z |
135 | adc_channel = 5; // set next channel to ADC5 = ACC_Z |
| 133 | break; |
136 | break; |
| 134 | case 9: |
137 | case 9: |
| 135 | // get z acceleration |
138 | // get z acceleration |