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| Rev 1869 | Rev 1870 | ||
|---|---|---|---|
| Line 170... | Line 170... | ||
| 170 | * re-enabling ADC, the real limit is (how much?) lower. |
170 | * re-enabling ADC, the real limit is (how much?) lower. |
| 171 | * The acc. sensor is sampled even if not used - or installed |
171 | * The acc. sensor is sampled even if not used - or installed |
| 172 | * at all. The cost is not significant. |
172 | * at all. The cost is not significant. |
| 173 | */ |
173 | */ |
| Line 174... | Line 174... | ||
| 174 | 174 | ||
| 175 | const uint8_t channelsForStates[] PROGMEM = { AD_GYRO_PITCH, AD_GYRO_ROLL, |
175 | const uint8_t channelsForStates[] PROGMEM = { |
| 176 | AD_GYRO_YAW, |
- | |
| 177 | 176 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, |
|
| 178 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
177 | AD_ACC_PITCH, AD_ACC_ROLL, AD_AIRPRESSURE, |
| 179 | 178 | ||
| 180 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
- | |
| 181 | 179 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_ACC_Z, // at 8, measure Z acc. |
|
| 182 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
180 | AD_GYRO_PITCH, AD_GYRO_ROLL, AD_GYRO_YAW, // at 11, finish yaw gyro |
| 183 | 181 | ||
| 184 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
182 | AD_ACC_PITCH, // at 12, finish pitch axis acc. |
| 185 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
183 | AD_ACC_ROLL, // at 13, finish roll axis acc. |
| 186 | AD_AIRPRESSURE, // at 14, finish air pressure. |
184 | AD_AIRPRESSURE, // at 14, finish air pressure. |
| 187 | 185 | ||
| 188 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
186 | AD_GYRO_PITCH, // at 15, finish pitch gyro |
| 189 | AD_GYRO_ROLL, // at 16, finish roll gyro |
187 | AD_GYRO_ROLL, // at 16, finish roll gyro |
| 190 | AD_UBAT // at 17, measure battery. |
188 | AD_UBAT // at 17, measure battery. |
| Line 191... | Line 189... | ||
| 191 | }; |
189 | }; |
| 192 | 190 | ||
| Line 193... | Line 191... | ||
| 193 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
191 | // Feature removed. Could be reintroduced later - but should work for all gyro types then. |
| Line 246... | Line 244... | ||
| 246 | * Interrupt Service Routine for ADC |
244 | * Interrupt Service Routine for ADC |
| 247 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
245 | * Runs at 312.5 kHz or 3.2 µs. When all states are |
| 248 | * processed the interrupt is disabled and further |
246 | * processed the interrupt is disabled and further |
| 249 | * AD conversions are stopped. |
247 | * AD conversions are stopped. |
| 250 | *****************************************************/ |
248 | *****************************************************/ |
| 251 | ISR(ADC_vect) |
249 | ISR(ADC_vect) { |
| 252 | { |
- | |
| 253 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
250 | static uint8_t ad_channel = AD_GYRO_PITCH, state = 0; |
| 254 | static uint16_t sensorInputs[8] = { 0, 0, 0, 0, 0, 0, 0, 0 }; |
251 | static uint16_t sensorInputs[8] = { 0, 0, 0, 0, 0, 0, 0, 0 }; |
| 255 | static uint16_t pressureAutorangingWait = 25; |
252 | static uint16_t pressureAutorangingWait = 25; |
| 256 | uint16_t rawAirPressure; |
253 | uint16_t rawAirPressure; |
| 257 | uint8_t i, axis; |
254 | uint8_t i, axis; |
| 258 | int16_t newrange; |
255 | int16_t newrange; |
| Line -... | Line 256... | ||
| - | 256 | ||
| - | 257 | J5HIGH; |
|
| 259 | 258 | ||
| 260 | // for various filters... |
259 | // for various filters... |
| Line 261... | Line 260... | ||
| 261 | int16_t tempOffsetGyro, tempGyro; |
260 | int16_t tempOffsetGyro, tempGyro; |
| Line 481... | Line 480... | ||
| 481 | // set adc muxer to next ad_channel |
480 | // set adc muxer to next ad_channel |
| 482 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
481 | ADMUX = (ADMUX & 0xE0) | ad_channel; |
| 483 | // after full cycle stop further interrupts |
482 | // after full cycle stop further interrupts |
| 484 | if (state) |
483 | if (state) |
| 485 | analog_start(); |
484 | analog_start(); |
| - | 485 | else |
|
| - | 486 | J4LOW; |
|
| - | 487 | ||
| - | 488 | J5LOW; |
|
| 486 | } |
489 | } |
| Line 487... | Line 490... | ||
| 487 | 490 | ||
| 488 | void analog_calibrate(void) { |
491 | void analog_calibrate(void) { |
| 489 | #define GYRO_OFFSET_CYCLES 32 |
492 | #define GYRO_OFFSET_CYCLES 32 |