WebSVN - FlightCtrl - Diff - Rev 711 and 750 - /branches/V0.68d Code Redesign killagreg/analog.c

 #include "timer0.h"
 #include "fc.h"
 #include "printf_P.h"
 #include "eeprom.h"
-volatile int16_t Current_Pitch = 0, Current_Roll = 0, Current_Yaw = 0;
-volatile int16_t Current_AccX = 0, Current_AccY = 0, Current_AccZ = 0;
+volatile int16_t Current_AccZ = 0;
 volatile int16_t UBat = 100;
-volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0;
+volatile int16_t AdValueGyrPitch = 0, AdValueGyrRoll = 0,  AdValueGyrYaw = 0;
-volatile int16_t AdValueAccRoll = 0, AdValueAccPitch = 0, AdValueAccTop = 0;
+volatile int16_t AdValueAccRoll = 0,  AdValueAccPitch = 0, AdValueAccTop = 0;
 volatile int32_t AirPressure = 32000;
 volatile int16_t StartAirPressure;
 volatile uint16_t ReadingAirPressure = 1023;
 uint8_t PressureSensorOffset;
-volatile int16_t HightD = 0;
-volatile int16_t tmpAirPressure;
+volatile int16_t HightD = 0;
 volatile uint16_t MeasurementCounter = 0;
 /*****************************************************/
     SREG = sreg;
+}
 void SearchAirPressureOffset(void)
 {
- uint8_t off;
+        uint8_t off;
- off = GetParamByte(PID_LAST_OFFSET);
+        off = GetParamByte(PID_PRESSURE_OFFSET);
- if(off > 20) off -= 10;
+        if(off > 20) off -= 10;
- OCR0A = off;
+        OCR0A = off;
- Delay_ms_Mess(100);
+        Delay_ms_Mess(100);
- if(ReadingAirPressure < 850) off = 0;
+        if(ReadingAirPressure < 850) off = 0;
- for(; off < 250;off++)
+        for(; off < 250;off++)
-  {
+        {
-  OCR0A = off;
+                OCR0A = off;
-  Delay_ms_Mess(50);
+                Delay_ms_Mess(50);
-  printf(".");
+                printf(".");
-  if(ReadingAirPressure < 900) break;
+                if(ReadingAirPressure < 900) break;
-  }
+        }
- SetParamByte(PID_LAST_OFFSET, off);
+        SetParamByte(PID_PRESSURE_OFFSET, off);
- PressureSensorOffset = off;
+        PressureSensorOffset = off;
- Delay_ms_Mess(300);
+        Delay_ms_Mess(300);
+}
+/*****************************************************/
+/*     Interrupt Service Routine for ADC             */
+/*****************************************************/
+// The routine changes the ADC input muxer running
+// thru the state machine by the following order.
+// state 0: ch0 (yaw gyro)
+// state 1: ch1 (roll gyro)
+// state 2: ch2 (pitch gyro)
+// state 3: ch4 (battery voltage -> UBat)
+// state 4: ch6 (acc y -> Current_AccY)
+// state 5: ch7 (acc x -> Current_AccX)
+// state 6: ch0 (yaw gyro average with first reading   -> AdValueGyrYaw)
+// state 7: ch1 (roll gyro average with first reading  -> AdValueGyrRoll)
+// state 8: ch2 (pitch gyro average with first reading -> AdValueGyrPitch)
-/*****************************************************/
+// state 9: ch5 (acc z add also 4th part of acc x and acc y to reading)
-/*     Interrupt Service Routine for ADC             */
+// state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure)
 /*****************************************************/
 ISR(ADC_vect)
+{
+    static uint8_t adc_channel = 0, state = 0;
-    static uint8_t adc_channel = 0, state = 0;
+    static uint16_t yaw1, roll1, pitch1;
-    static uint16_t yaw1, roll1, pitch1;
+    static uint8_t average_pressure = 0;
-    static uint8_t average_pressure = 0;
+    static int16_t tmpAirPressure = 0;
     // disable further AD conversion
     ADC_Disable();
                 // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3
             UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
             adc_channel = 6; // set next channel to ADC6 = ACC_Y
             break;
         case 4:
-            Current_AccY = NeutralAccY - ADC; // get acceleration in Y direction
+            AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction
-            AdValueAccRoll = Current_AccY;
             adc_channel = 7; // set next channel to ADC7 = ACC_X
             break;
         case 5:
-            Current_AccX = ADC - NeutralAccX; // get acceleration in X direction
+            AdValueAccPitch = ADC - NeutralAccX; // get acceleration in X direction
-            AdValueAccPitch =  Current_AccX;
                     adc_channel = 0; // set next channel to ADC7 = YAW GYRO
             break;
         case 6:
                 // average over two samples to create current AdValueGyrYaw
             if(BoardRelease == 10)  AdValueGyrYaw = (ADC + yaw1) / 2;
-                        else                                       AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1
+                        else                                    AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1
             adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
             break;
         case 7:
                 // average over two samples to create current ADValueGyrRoll
             if(BoardRelease == 10)  AdValueGyrRoll = (ADC + roll1) / 2;
-                        else                                       AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
+                        else                                    AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
             adc_channel = 2; // set next channel to ADC2 = PITCH GYRO
             break;
         case 8:
                 // average over two samples to create current ADValuePitch
             if(BoardRelease == 10)  AdValueGyrPitch = (ADC + pitch1) / 2;
-                        else                                       AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1
+                        else                                    AdValueGyrPitch = ADC + pitch1; // gain is 2 times lower on FC 1.1
             adc_channel = 5; // set next channel to ADC5 = ACC_Z
             break;
        case 9:
                 // get z acceleration
             AdValueAccTop =  (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction
-            AdValueAccTop += abs(Current_AccY) / 4 + abs(Current_AccX) / 4;
+            AdValueAccTop += abs(AdValueAccPitch) / 4 + abs(AdValueAccRoll) / 4;
             if(AdValueAccTop > 1)
+             {
-              if(NeutralAccZ < 800) NeutralAccZ+= 0.02;
+                if(NeutralAccZ < 800) NeutralAccZ+= 0.02;
+             }
              else if(AdValueAccTop < -1)
+             {
-              if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
+                if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
+             }
             Current_AccZ = ADC;
             Reading_Integral_Top += AdValueAccTop;      // Integrieren
             Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
                 adc_channel = 3; // set next channel to ADC3 = air pressure
             break;
         case 10:
             tmpAirPressure += ADC; // sum vadc values
             if(++average_pressure >= 5) // if 5 values are summerized for averaging
-                {
+            {
                 ReadingAirPressure = ADC; // update measured air pressure
-                average_pressure = 0; // reset air pressure measurement counter
                                 HightD = (int16_t)(StartAirPressure - tmpAirPressure - ReadingHight);  // D-Anteil = neuerWert - AlterWert
                 AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history
                 ReadingHight = StartAirPressure - AirPressure;
+                average_pressure = 0; // reset air pressure measurement counter
                 tmpAirPressure = 0;
-                }
+            }
             adc_channel = 0; // set next channel to ADC0 = GIER GYRO
-            state = 0; // reset state
+            state = 0; // reset state machine
             break;
         default:
             adc_channel = 0;
             state = 0;
             break;
+        }
     // set adc muxer to next adc_channel
     ADMUX = (ADMUX & 0xE0) | adc_channel;
-    // ??
+    // after full cycle stop further interrupts
     if(state != 0) ADC_Enable();
+}

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(root)/branches/V0.68d Code Redesign killagreg/analog.c @ 759 - Rev 711 → 750