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| 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
2 | // + Copyright (c) 04.2007 Holger Buss |
| 3 | // + only for non-profit use |
3 | // + Nur für den privaten Gebrauch |
| 4 | // + www.MikroKopter.com |
4 | // + www.MikroKopter.com |
| - | 5 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 6 | // + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation), |
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| - | 7 | // + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig 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, Bestückung und Verkauf von Platinen oder Bausätzen, |
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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 veröffentlicht, |
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| - | 14 | // + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen 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 sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de" |
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| - | 18 | // + eindeutig als Ursprung verlinkt werden |
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| - | 19 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| - | 20 | // + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion |
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| - | 21 | // + Benutzung auf eigene Gefahr |
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| - | 22 | // + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden |
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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 zulässig |
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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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| 5 | // + see the File "License.txt" for further Informations |
32 | // + from this software without specific prior written permission. |
| - | 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 excample: 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// + CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) |
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| - | 48 | // + ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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| - | 49 | // + POSSIBILITY OF SUCH DAMAGE. |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
50 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 7 | #include <stdlib.h> |
51 | #include <stdlib.h> |
| 8 | #include <avr/io.h> |
52 | #include <avr/io.h> |
| 9 | #include <avr/interrupt.h> |
53 | #include <avr/interrupt.h> |
| Line 14... | Line 58... | ||
| 14 | #include "fc.h" |
58 | #include "fc.h" |
| 15 | #include "printf_P.h" |
59 | #include "printf_P.h" |
| 16 | #include "eeprom.h" |
60 | #include "eeprom.h" |
| 17 | #include "twimaster.h" |
61 | #include "twimaster.h" |
| Line 18... | Line 62... | ||
| 18 | 62 | ||
| - | 63 | volatile uint16_t Test = 0; |
|
| 19 | volatile int16_t Current_AccZ = 0; |
64 | |
| 20 | volatile int16_t UBat = 100; |
65 | volatile int16_t UBat = 100; |
| 21 | volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0, AdValueGyrYaw = 0; |
66 | volatile int16_t AdValueGyroNick = 0, AdValueGyroRoll = 0, AdValueGyroYaw = 0; |
| 22 | uint8_t AnalogOffsetNick = 115, AnalogOffsetRoll = 115, AnalogOffsetYaw = 115; |
67 | volatile int16_t FilterHiResGyroNick = 0, FilterHiResGyroRoll = 0; |
| 23 | uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
68 | volatile int16_t HiResGyroNick = 2500, HiResGyroRoll = 2500; |
| 24 | volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0; |
69 | volatile int16_t AdValueAccRoll = 0, AdValueAccNick = 0, AdValueAccTop = 0, AdValueAccZ = 0; |
| 25 | volatile int32_t AirPressure = 32000; |
70 | volatile int32_t AirPressure = 32000; |
| 26 | volatile uint8_t average_pressure = 0; |
71 | volatile uint8_t average_pressure = 0; |
| 27 | volatile int16_t StartAirPressure; |
72 | volatile int16_t StartAirPressure; |
| 28 | volatile uint16_t ReadingAirPressure = 1023; |
- | |
| 29 | int8_t ExpandBaro = 0; |
- | |
| 30 | uint8_t PressureSensorOffset; |
73 | volatile uint16_t ReadingAirPressure = 1023; |
| 31 | volatile int16_t HeightD = 0; |
74 | volatile int16_t HeightD = 0; |
| - | 75 | volatile uint16_t MeasurementCounter = 0; |
|
| - | 76 | volatile uint8_t ADReady = 1; |
|
| - | 77 | ||
| - | 78 | uint8_t DacOffsetGyroNick = 115, DacOffsetGyroRoll = 115, DacOffsetGyroYaw = 115; |
|
| - | 79 | uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0; |
|
| - | 80 | int8_t ExpandBaro = 0; |
|
| Line 32... | Line 81... | ||
| 32 | volatile uint16_t MeasurementCounter = 0; |
81 | uint8_t PressureSensorOffset; |
| 33 | 82 | ||
| 34 | /*****************************************************/ |
83 | /*****************************************************/ |
| 35 | /* Initialize Analog Digital Converter */ |
84 | /* Initialize Analog Digital Converter */ |
| Line 49... | Line 98... | ||
| 49 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
98 | ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR)); |
| 50 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
99 | // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice) |
| 51 | ADMUX = (ADMUX & 0xE0) | 0x00; |
100 | ADMUX = (ADMUX & 0xE0) | 0x00; |
| 52 | //Set ADC Control and Status Register A |
101 | //Set ADC Control and Status Register A |
| 53 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
102 | //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz |
| 54 | ADCSRA = (1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0); |
103 | ADCSRA = (0<<ADEN)|(0<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(0<<ADIE); |
| 55 | //Set ADC Control and Status Register B |
104 | //Set ADC Control and Status Register B |
| 56 | //Trigger Source to Free Running Mode |
105 | //Trigger Source to Free Running Mode |
| 57 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
106 | ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0)); |
| 58 | // Enable AD conversion |
107 | // Start AD conversion |
| 59 | ADC_Enable(); |
108 | ADC_Enable(); |
| 60 | // restore global interrupt flags |
109 | // restore global interrupt flags |
| 61 | SREG = sreg; |
110 | SREG = sreg; |
| 62 | } |
111 | } |
| Line 81... | Line 130... | ||
| 81 | PressureSensorOffset = off; |
130 | PressureSensorOffset = off; |
| 82 | Delay_ms_Mess(300); |
131 | Delay_ms_Mess(300); |
| 83 | } |
132 | } |
| Line 84... | Line 133... | ||
| 84 | 133 | ||
| 85 | 134 | ||
| 86 | void SearchGyroOffset(void) |
135 | void SearchDacGyroOffset(void) |
| Line 87... | Line 136... | ||
| 87 | { |
136 | { |
| - | 137 | uint8_t i, ready = 0; |
|
| - | 138 | ||
| 88 | uint8_t i, ready = 0; |
139 | GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
| 89 | 140 | if(BoardRelease == 13) // the auto offset calibration is available only at board release 1.3 |
|
| 90 | GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0; |
141 | { |
| 91 | for(i = 140; i != 0; i--) |
142 | for(i = 140; i != 0; i--) |
| 92 | { |
143 | { |
| 93 | if(ready == 3 && i > 10) i = 9; |
144 | if(ready == 3 && i > 10) i = 9; |
| 94 | ready = 0; |
145 | ready = 0; |
| 95 | if(AdValueGyrNick < 1020) AnalogOffsetNick--; else if(AdValueGyrNick > 1030) AnalogOffsetNick++; else ready++; |
146 | if(AdValueGyroNick < 1020) DacOffsetGyroNick--; else if(AdValueGyroNick > 1030) DacOffsetGyroNick++; else ready++; |
| 96 | if(AdValueGyrRoll < 1020) AnalogOffsetRoll--; else if(AdValueGyrRoll > 1030) AnalogOffsetRoll++; else ready++; |
147 | if(AdValueGyroRoll < 1020) DacOffsetGyroRoll--; else if(AdValueGyroRoll > 1030) DacOffsetGyroRoll++; else ready++; |
| 97 | if(AdValueGyrYaw < 1020) AnalogOffsetYaw-- ; else if(AdValueGyrYaw > 1030) AnalogOffsetYaw++ ; else ready++; |
148 | if(AdValueGyroYaw < 1020) DacOffsetGyroYaw-- ; else if(AdValueGyroYaw > 1030) DacOffsetGyroYaw++ ; else ready++; |
| 98 | twi_state = TWI_STATE_GYRO_OFFSET_TX; // set twi_state in TWI ISR to start of Gyro Offset |
149 | twi_state = TWI_STATE_GYRO_OFFSET_TX; // set twi_state in TWI ISR to start of Gyro Offset |
| 99 | I2C_Start(); // initiate data transmission |
150 | I2C_Start(); // initiate data transmission |
| 100 | if(AnalogOffsetNick < 10) { GyroDefectNick = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefectNick = 1; AnalogOffsetNick = 245;}; |
151 | if(DacOffsetGyroNick < 10) { GyroDefectNick = 1; DacOffsetGyroNick = 10;}; if(DacOffsetGyroNick > 245) { GyroDefectNick = 1; DacOffsetGyroNick = 245;}; |
| 101 | if(AnalogOffsetRoll < 10) { GyroDefectRoll = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefectRoll = 1; AnalogOffsetRoll = 245;}; |
152 | if(DacOffsetGyroRoll < 10) { GyroDefectRoll = 1; DacOffsetGyroRoll = 10;}; if(DacOffsetGyroRoll > 245) { GyroDefectRoll = 1; DacOffsetGyroRoll = 245;}; |
| 102 | if(AnalogOffsetYaw < 10) { GyroDefectYaw = 1; AnalogOffsetYaw = 10;}; if(AnalogOffsetYaw > 245) { GyroDefectYaw = 1; AnalogOffsetYaw = 245;}; |
153 | if(DacOffsetGyroYaw < 10) { GyroDefectYaw = 1; DacOffsetGyroYaw = 10;}; if(DacOffsetGyroYaw > 245) { GyroDefectYaw = 1; DacOffsetGyroYaw = 245;}; |
| 103 | while(twi_state); // wait for end of data transmission |
154 | while(twi_state); // wait for end of data transmission |
| 104 | average_pressure = 0; |
155 | average_pressure = 0; |
| - | 156 | ADC_Enable(); |
|
| - | 157 | while(average_pressure == 0); |
|
| 105 | ADC_Enable(); |
158 | if(i < 10) Delay_ms_Mess(10); |
| 106 | while(average_pressure == 0); |
- | |
| 107 | if(i < 10) Delay_ms_Mess(10); |
159 | } |
| Line 108... | Line 160... | ||
| 108 | } |
160 | Delay_ms_Mess(70); |
| 109 | Delay_ms_Mess(70); |
161 | } |
| 110 | } |
162 | } |
| 111 | 163 | ||
| 112 | 164 | ||
| 113 | 165 | ||
| - | 166 | ||
| - | 167 | /*****************************************************/ |
|
| 114 | 168 | /* Interrupt Service Routine for ADC */ |
|
| 115 | /*****************************************************/ |
169 | /*****************************************************/ |
| 116 | /* Interrupt Service Routine for ADC */ |
170 | // runs at 312.5 kHz or 3.2 µs |
| - | 171 | // if after (60.8µs) all 19 states are processed the interrupt is disabled |
|
| - | 172 | // and the update of further ads is stopped |
|
| - | 173 | ||
| 117 | /*****************************************************/ |
174 | /* |
| - | 175 | 0 nickgyro |
|
| - | 176 | 1 rollgyro |
|
| - | 177 | 2 yawgyro |
|
| 118 | // runs at 156.25 kHz or 6.4 µs |
178 | 3 accroll |
| - | 179 | 4 accnick |
|
| - | 180 | 5 nickgyro |
|
| - | 181 | 6 rollgyro |
|
| - | 182 | 7 ubat |
|
| - | 183 | 8 acctop |
|
| - | 184 | 9 air pressure |
|
| - | 185 | 10 nickgyro |
|
| - | 186 | 11 rollgyro |
|
| - | 187 | 12 yawgyro |
|
| - | 188 | 13 accroll |
|
| 119 | // if after (70.4µs) all 11 states are processed the interrupt is disabled |
189 | 14 accnick |
| 120 | // and the update of further ads is stopped |
190 | 15 gyronick |
| 121 | // The routine changes the ADC input muxer running |
191 | 16 gyroroll |
| 122 | // thru the state machine by the following order. |
192 | 17 airpressure |
| 123 | // state 0: ch0 (yaw gyro) |
193 | */ |
| 124 | // state 1: ch1 (roll gyro) |
194 | |
| 125 | // state 2: ch2 (nick gyro) |
195 | |
| 126 | // state 3: ch4 (battery voltage -> UBat) |
196 | #define AD_GYRO_YAW 0 |
| Line 127... | Line 197... | ||
| 127 | // state 4: ch6 (acc y -> Current_AccY) |
197 | #define AD_GYRO_ROLL 1 |
| 128 | // state 5: ch7 (acc x -> Current_AccX) |
198 | #define AD_GYRO_NICK 2 |
| 129 | // state 6: ch0 (yaw gyro average with first reading -> AdValueGyrYaw) |
199 | #define AD_AIRPRESS 3 |
| 130 | // state 7: ch1 (roll gyro average with first reading -> AdValueGyrRoll) |
200 | #define AD_UBAT 4 |
| - | 201 | #define AD_ACC_TOP 5 |
|
| 131 | // state 8: ch2 (nick gyro average with first reading -> AdValueGyrNick) |
202 | #define AD_ACC_ROLL 6 |
| 132 | // state 9: ch5 (acc z add also 4th part of acc x and acc y to reading) |
- | |
| 133 | // state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure) |
- | |
| - | 203 | #define AD_ACC_NICK 7 |
|
| 134 | 204 | ||
| 135 | ISR(ADC_vect) |
205 | ISR(ADC_vect) |
| 136 | { |
206 | { |
| 137 | static uint8_t adc_channel = 0, state = 0; |
207 | static uint8_t ad_channel = AD_GYRO_NICK, state = 0; |
| 138 | static uint16_t yaw1, roll1, nick1; |
208 | static uint16_t gyroyaw, gyroroll, gyronick, accroll, accnick; |
| 139 | static int16_t tmpAirPressure = 0; |
209 | static int32_t filtergyronick, filtergyroroll; |
| 140 | // disable further AD conversion |
- | |
| 141 | ADC_Disable(); |
210 | static int16_t tmpAirPressure = 0; |
| 142 | // state machine |
211 | |
| 143 | switch(state++) |
212 | // state machine |
| 144 | { |
213 | switch(state++) |
| 145 | case 0: |
214 | { |
| 146 | yaw1 = ADC; // get Gyro Yaw Voltage 1st sample |
215 | case 0: |
| 147 | adc_channel = 1; // set next channel to ADC1 = ROLL GYRO |
216 | gyronick = ADC; // get nick gyro voltage 1st sample |
| 148 | MeasurementCounter++; // increment total measurement counter |
217 | ad_channel = AD_GYRO_ROLL; |
| 149 | break; |
218 | break; |
| 150 | case 1: |
219 | case 1: |
| 151 | roll1 = ADC; // get Gyro Roll Voltage 1st sample |
220 | gyroroll = ADC; // get roll gyro voltage 1st sample |
| 152 | adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
- | |
| 153 | break; |
221 | ad_channel = AD_GYRO_YAW; |
| 154 | case 2: |
222 | break; |
| 155 | nick1 = ADC; // get Gyro Nick Voltage 1st sample |
223 | case 2: |
| 156 | adc_channel = 4; // set next channel to ADC4 = UBAT |
224 | gyroyaw = ADC; // get yaw gyro voltage 1st sample |
| 157 | break; |
225 | ad_channel = AD_ACC_ROLL; |
| 158 | case 3: |
226 | break; |
| 159 | // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3 |
227 | case 3: |
| 160 | UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value |
228 | accroll = ADC; // get roll acc voltage 1st sample |
| 161 | adc_channel = 6; // set next channel to ADC6 = ACC_Y |
229 | ad_channel = AD_ACC_NICK; |
| 162 | break; |
230 | break; |
| 163 | case 4: |
231 | case 4: |
| 164 | AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction |
- | |
| 165 | adc_channel = 7; // set next channel to ADC7 = ACC_X |
- | |
| 166 | break; |
- | |
| 167 | case 5: |
232 | accnick = ADC; // get nick acc voltage 1st sample |
| 168 | AdValueAccNick = ADC - NeutralAccX; // get acceleration in X direction |
- | |
| 169 | adc_channel = 0; // set next channel to ADC7 = YAW GYRO |
233 | ad_channel = AD_GYRO_NICK; |
| 170 | break; |
- | |
| 171 | case 6: |
- | |
| 172 | // average over two samples to create current AdValueGyrYaw |
- | |
| 173 | if(BoardRelease == 10) AdValueGyrYaw = (ADC + yaw1) / 2; |
- | |
| 174 | else if (BoardRelease == 20) AdValueGyrYaw = 1023 - (ADC + yaw1); |
- | |
| 175 | else AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1 |
234 | break; |
| 176 | adc_channel = 1; // set next channel to ADC7 = ROLL GYRO |
235 | case 5: |
| 177 | break; |
236 | gyronick += ADC; // get nick gyro voltage 2nd sample |
| 178 | case 7: |
- | |
| 179 | // average over two samples to create current ADValueGyrRoll |
237 | ad_channel = AD_GYRO_ROLL; |
| 180 | if(BoardRelease == 10) AdValueGyrRoll = (ADC + roll1) / 2; |
238 | break; |
| 181 | else AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1 |
239 | case 6: |
| 182 | adc_channel = 2; // set next channel to ADC2 = NICK GYRO |
240 | gyroroll += ADC; // get roll gyro voltage 2nd sample |
| 183 | break; |
241 | ad_channel = AD_UBAT; |
| 184 | case 8: |
242 | break; |
| 185 | // average over two samples to create current ADValueNick |
- | |
| 186 | if(BoardRelease == 10) AdValueGyrNick = (ADC + nick1) / 2; |
243 | case 7: |
| 187 | else AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1 |
244 | // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3 |
| 188 | adc_channel = 5; // set next channel to ADC5 = ACC_Z |
245 | UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value |
| 189 | break; |
246 | ad_channel = AD_ACC_TOP; |
| 190 | case 9: |
247 | break; |
| 191 | // get z acceleration |
248 | case 8: |
| 192 | AdValueAccTop = (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction |
249 | AdValueAccZ = ADC; // get plain acceleration in Z direction |
| 193 | AdValueAccTop += abs(AdValueAccNick) / 4 + abs(AdValueAccRoll) / 4; |
250 | AdValueAccTop = (int16_t)ADC - AdBiasAccTop; // get acceleration in Z direction |
| 194 | if(AdValueAccTop > 1) |
251 | if(AdValueAccTop > 1) |
| 195 | { |
252 | { |
| 196 | if(NeutralAccZ < 750) |
253 | if(AdBiasAccTop < 750) |
| 197 | { |
254 | { |
| 198 | NeutralAccZ += 0.02; |
255 | AdBiasAccTop += 0.02; |
| 199 | if(Model_Is_Flying < 500) NeutralAccZ += 0.1; |
256 | if(ModelIsFlying < 500) AdBiasAccTop += 0.1; |
| 200 | } |
257 | } |
| - | 258 | } |
|
| - | 259 | else if(AdValueAccTop < -1) |
|
| - | 260 | { |
|
| - | 261 | if(AdBiasAccTop > 550) |
|
| - | 262 | { |
|
| - | 263 | AdBiasAccTop -= 0.02; |
|
| - | 264 | if(ModelIsFlying < 500) AdBiasAccTop -= 0.1; |
|
| - | 265 | } |
|
| - | 266 | } |
|
| - | 267 | ReadingIntegralTop += AdValueAccTop; // load |
|
| - | 268 | ReadingIntegralTop -= ReadingIntegralTop / 1024; // discharge |
|
| - | 269 | ad_channel = AD_AIRPRESS; |
|
| - | 270 | break; |
|
| - | 271 | // case 9 is moved to the end |
|
| - | 272 | case 10: |
|
| - | 273 | gyronick += ADC; // get nick gyro voltage 3rd sample |
|
| - | 274 | ad_channel = AD_GYRO_ROLL; |
|
| - | 275 | break; |
|
| - | 276 | case 11: |
|
| - | 277 | gyroroll += ADC; // get roll gyro voltage 3rd sample |
|
| - | 278 | ad_channel = AD_GYRO_YAW; |
|
| - | 279 | break; |
|
| - | 280 | case 12: |
|
| - | 281 | gyroyaw += ADC; // get yaw gyro voltage 2nd sample |
|
| - | 282 | if(BoardRelease == 10) AdValueGyroYaw = (gyroyaw + 1) / 2; // analog gain on board 1.0 is 2 times higher |
|
| - | 283 | else |
|
| - | 284 | if(BoardRelease == 20) AdValueGyroYaw = 2047 - gyroyaw; // 2 times higher than a single sample |
|
| - | 285 | else AdValueGyroYaw = gyroyaw; // 2 times higher than a single sample |
|
| - | 286 | ad_channel = AD_ACC_ROLL; |
|
| - | 287 | break; |
|
| - | 288 | case 13: |
|
| 201 | } |
289 | accroll += ADC; // get roll acc voltage 2nd sample |
| 202 | else if(AdValueAccTop < -1) |
290 | AdValueAccRoll = AdBiasAccRoll - accroll; // subtract bias |
| 203 | { |
291 | ad_channel = AD_ACC_NICK; |
| 204 | if(NeutralAccZ > 550) |
292 | break; |
| 205 | { |
293 | case 14: |
| - | 294 | accnick += ADC; // get nick acc voltage 2nd sample |
|
| - | 295 | AdValueAccNick = accnick - AdBiasAccNick; // subtract bias |
|
| - | 296 | ad_channel = AD_GYRO_NICK; |
|
| - | 297 | break; |
|
| - | 298 | case 15: |
|
| 206 | NeutralAccZ-= 0.02; |
299 | gyronick += ADC; // get nick gyro voltage 4th sample |
| 207 | if(Model_Is_Flying < 500) NeutralAccZ -= 0.1; |
300 | if(BoardRelease == 10) gyronick *= 2; // 8 times higer than a single sample, HW gain x2 |
| - | 301 | else gyronick *= 4; // 16 times higer than a single sample |
|
| - | 302 | AdValueGyroNick = gyronick / 8; // 2 times higher than a single sample |
|
| - | 303 | filtergyronick = (filtergyronick + gyronick) / 2; //(16 samples)/2 results in a factor of 8 higher than a single sample) see HIRES_GYRO_AMPLIFY |
|
| - | 304 | HiResGyroNick = filtergyronick - BiasHiResGyroNick; |
|
| - | 305 | FilterHiResGyroNick = (FilterHiResGyroNick + HiResGyroNick) / 2; |
|
| - | 306 | ad_channel = AD_GYRO_ROLL; |
|
| - | 307 | break; |
|
| - | 308 | case 16: |
|
| - | 309 | gyroroll += ADC; // get roll gyro voltage 4th sample |
|
| - | 310 | if(BoardRelease == 10) gyroroll *= 2; // 8 times higer than a single sample, HW gain x2 |
|
| - | 311 | else gyroroll *= 4; // 16 times higer than a single sample |
|
| - | 312 | AdValueGyroRoll = gyroroll / 8; // 2 times higher than a single sample |
|
| - | 313 | filtergyroroll = (filtergyroroll + gyroroll) / 2; //(16 samples)/2 results in a factor of 8 higher than a single sample) see HIRES_GYRO_AMPLIFY |
|
| - | 314 | HiResGyroRoll = filtergyroroll - BiasHiResGyroRoll; |
|
| - | 315 | FilterHiResGyroRoll = (FilterHiResGyroRoll + HiResGyroRoll) / 2; |
|
| 208 | } |
316 | ad_channel = AD_AIRPRESS; |
| 209 | } |
317 | break; |
| - | 318 | case 17: |
|
| 210 | Current_AccZ = ADC; |
319 | state = 0; // restart sequence from beginning |
| 211 | Reading_Integral_Top += AdValueAccTop; // Integrieren |
320 | ADReady = 1; // mark |
| 212 | Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen |
321 | MeasurementCounter++; // increment total measurement counter |
| 213 | adc_channel = 3; // set next channel to ADC3 = air pressure |
322 | // "break;" is missing to enable fall thru case 9 at the end of the sequence |
| 214 | break; |
323 | case 9: |
| 215 | case 10: |
324 | tmpAirPressure += ADC; // sum adc values |
| 216 | tmpAirPressure += ADC; // sum vadc values |
325 | if(++average_pressure >= 5) // if 5 values are summerized for averaging |
| 217 | if(++average_pressure >= 5) // if 5 values are summerized for averaging |
326 | { |
| 218 | { |
327 | tmpAirPressure /= 2; |
| 219 | ReadingAirPressure = ADC; // update measured air pressure |
- | |
| 220 | HeightD = (7 * HeightD + (int16_t)FCParam.Height_D * (int16_t)(255 * ExpandBaro + StartAirPressure - tmpAirPressure - ReadingHeight))/8; // D-Part = CurrentValue - OldValue |
328 | ReadingAirPressure = ADC; // update meassured air pressure |
| 221 | AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history |
329 | HeightD = (31 * HeightD + (int16_t)FCParam.HeightD * (int16_t)(255 * ExpandBaro + StartAirPressure - tmpAirPressure - ReadingHeight)) / 32; // D-Part = CurrentValue - OldValue |
| 222 | ReadingHeight = 255 * ExpandBaro + StartAirPressure - AirPressure; |
330 | AirPressure = (tmpAirPressure + 7 * AirPressure + 4) / 8; // averaging using history |
| 223 | average_pressure = 0; // reset air pressure measurement counter |
331 | ReadingHeight = 255 * ExpandBaro + StartAirPressure - AirPressure; |
| 224 | tmpAirPressure = 0; |
332 | average_pressure = 0; // reset air pressure measurement counter |
| 225 | } |
333 | tmpAirPressure /= 2; |
| 226 | adc_channel = 0; // set next channel to ADC0 = GIER GYRO |
334 | } |
| 227 | state = 0; // reset state machine |
335 | ad_channel = AD_GYRO_NICK; |
| 228 | break; |
336 | break; |
| 229 | default: |
337 | default: |
| 230 | adc_channel = 0; |
338 | ad_channel = AD_GYRO_NICK; |