Rev 1226 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1 | ingob | 1 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 2 | // + Copyright (c) 04.2007 Holger Buss |
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| 3 | // + only for non-profit use |
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| 4 | // + www.MikroKopter.com |
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| 5 | // + see the File "License.txt" for further Informations |
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| 6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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| 7 | |||
| 8 | #include "main.h" |
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| 9 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
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| 1166 | hbuss | 10 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
| 11 | volatile int HiResNick = 2500, HiResRoll = 2500; |
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| 380 | hbuss | 12 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
| 13 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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| 1166 | hbuss | 14 | volatile char messanzahl_AccHoch = 0; |
| 1 | ingob | 15 | volatile long Luftdruck = 32000; |
| 16 | volatile int StartLuftdruck; |
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| 17 | volatile unsigned int MessLuftdruck = 1023; |
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| 18 | unsigned char DruckOffsetSetting; |
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| 1036 | hbuss | 19 | signed char ExpandBaro = 0; |
| 1 | ingob | 20 | volatile int HoeheD = 0; |
| 21 | volatile char messanzahl_Druck; |
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| 22 | volatile int tmpLuftdruck; |
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| 23 | volatile unsigned int ZaehlMessungen = 0; |
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| 918 | hbuss | 24 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
| 25 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
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| 1168 | hbuss | 26 | volatile unsigned char AdReady = 1; |
| 1 | ingob | 27 | //####################################################################################### |
| 28 | // |
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| 29 | void ADC_Init(void) |
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| 30 | //####################################################################################### |
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| 31 | { |
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| 32 | ADMUX = 0;//Referenz ist extern |
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| 1155 | hbuss | 33 | ANALOG_ON; |
| 1 | ingob | 34 | } |
| 35 | |||
| 36 | void SucheLuftruckOffset(void) |
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| 37 | { |
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| 38 | unsigned int off; |
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| 173 | holgerb | 39 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
| 40 | if(off > 20) off -= 10; |
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| 41 | OCR0A = off; |
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| 1036 | hbuss | 42 | ExpandBaro = 0; |
| 380 | hbuss | 43 | Delay_ms_Mess(100); |
| 173 | holgerb | 44 | if(MessLuftdruck < 850) off = 0; |
| 45 | for(; off < 250;off++) |
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| 1 | ingob | 46 | { |
| 47 | OCR0A = off; |
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| 380 | hbuss | 48 | Delay_ms_Mess(50); |
| 1 | ingob | 49 | printf("."); |
| 1036 | hbuss | 50 | if(MessLuftdruck < 850) break; |
| 1 | ingob | 51 | } |
| 173 | holgerb | 52 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
| 53 | DruckOffsetSetting = off; |
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| 380 | hbuss | 54 | Delay_ms_Mess(300); |
| 1 | ingob | 55 | } |
| 56 | |||
| 918 | hbuss | 57 | void SucheGyroOffset(void) |
| 58 | { |
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| 59 | unsigned char i, ready = 0; |
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| 1219 | hbuss | 60 | int timeout; |
| 918 | hbuss | 61 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
| 1219 | hbuss | 62 | timeout = SetDelay(2000); |
| 918 | hbuss | 63 | for(i=140; i != 0; i--) |
| 64 | { |
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| 921 | hbuss | 65 | if(ready == 3 && i > 10) i = 9; |
| 918 | hbuss | 66 | ready = 0; |
| 67 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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| 68 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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| 69 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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| 70 | twi_state = 8; |
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| 71 | i2c_start(); |
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| 72 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
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| 73 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
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| 74 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
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| 1219 | hbuss | 75 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
| 918 | hbuss | 76 | messanzahl_Druck = 0; |
| 77 | ANALOG_ON; |
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| 78 | while(messanzahl_Druck == 0); |
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| 79 | if(i<10) Delay_ms_Mess(10); |
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| 80 | } |
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| 921 | hbuss | 81 | Delay_ms_Mess(70); |
| 918 | hbuss | 82 | } |
| 1 | ingob | 83 | |
| 1286 | MartinR | 84 | /* // MartinR: so war es |
| 1171 | hbuss | 85 | |
| 86 | 1 r |
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| 87 | 2 g |
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| 88 | 3 y |
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| 89 | 4 x |
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| 90 | 5 n |
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| 91 | 6 r |
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| 92 | 7 u |
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| 93 | 8 z |
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| 94 | 9 L |
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| 95 | 10 n |
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| 96 | 11 r |
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| 97 | 12 g |
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| 98 | 13 y |
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| 99 | 14 x |
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| 100 | 15 n |
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| 101 | 16 r |
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| 102 | 17 L |
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| 103 | */ |
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| 104 | |||
| 1286 | MartinR | 105 | /* MartinR : geändert |
| 106 | |||
| 107 | 1 r |
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| 108 | 2 g |
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| 109 | 3 L |
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| 110 | 4 n |
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| 111 | 5 r |
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| 112 | 6 y |
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| 113 | 7 x |
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| 114 | 8 n |
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| 115 | 9 r |
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| 116 | 10 g |
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| 117 | 11 L |
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| 118 | 12 n |
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| 119 | 13 r |
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| 120 | 14 u |
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| 121 | 15 z |
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| 122 | */ |
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| 123 | |||
| 1 | ingob | 124 | //####################################################################################### |
| 125 | // |
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| 126 | SIGNAL(SIG_ADC) |
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| 127 | //####################################################################################### |
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| 128 | { |
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| 129 | static unsigned char kanal=0,state = 0; |
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| 1171 | hbuss | 130 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
| 1286 | MartinR | 131 | static signed int roll_alt1, roll_alt2, roll_alt3, nick_alt1, nick_alt2, nick_alt3; // MartinR: 4x Mittelung |
| 132 | //static signed int roll_alt1, nick_alt1; // MartinR: 2x Mittelung |
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| 1171 | hbuss | 133 | static signed int accy, accx; |
| 1286 | MartinR | 134 | |
| 135 | /* // MartinR : so war es Anfang |
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| 1171 | hbuss | 136 | switch(state++) |
| 137 | { |
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| 138 | case 0: |
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| 139 | nick1 = ADC; |
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| 140 | kanal = AD_ROLL; |
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| 141 | break; |
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| 142 | case 1: |
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| 143 | roll1 = ADC; |
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| 144 | kanal = AD_GIER; |
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| 145 | break; |
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| 146 | case 2: |
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| 147 | gier1 = ADC; |
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| 148 | kanal = AD_ACC_Y; |
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| 149 | break; |
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| 150 | case 3: |
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| 151 | Aktuell_ay = NeutralAccY - ADC; |
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| 152 | accy = Aktuell_ay; |
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| 153 | kanal = AD_ACC_X; |
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| 154 | break; |
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| 155 | case 4: |
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| 156 | Aktuell_ax = ADC - NeutralAccX; |
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| 157 | accx = Aktuell_ax; |
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| 158 | kanal = AD_NICK; |
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| 159 | break; |
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| 160 | case 5: |
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| 161 | nick1 += ADC; |
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| 162 | kanal = AD_ROLL; |
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| 163 | break; |
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| 164 | case 6: |
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| 165 | roll1 += ADC; |
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| 166 | kanal = AD_UBAT; |
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| 167 | break; |
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| 168 | case 7: |
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| 169 | UBat = (3 * UBat + ADC / 3) / 4; |
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| 170 | kanal = AD_ACC_Z; |
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| 171 | break; |
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| 172 | case 8: |
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| 173 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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| 174 | if(AdWertAccHoch > 1) |
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| 175 | { |
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| 176 | if(NeutralAccZ < 750) |
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| 177 | { |
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| 178 | NeutralAccZ += 0.02; |
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| 179 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 180 | } |
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| 181 | } |
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| 182 | else if(AdWertAccHoch < -1) |
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| 183 | { |
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| 184 | if(NeutralAccZ > 550) |
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| 185 | { |
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| 186 | NeutralAccZ-= 0.02; |
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| 187 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 188 | } |
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| 189 | } |
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| 190 | messanzahl_AccHoch = 1; |
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| 191 | Aktuell_az = ADC; |
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| 192 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 193 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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| 194 | kanal = AD_DRUCK; |
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| 195 | break; |
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| 196 | // "case 8:" fehlt hier absichtlich |
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| 197 | case 10: |
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| 198 | nick1 += ADC; |
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| 199 | kanal = AD_ROLL; |
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| 200 | break; |
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| 201 | case 11: |
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| 202 | roll1 += ADC; |
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| 203 | kanal = AD_GIER; |
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| 204 | break; |
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| 205 | case 12: |
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| 206 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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| 207 | else |
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| 208 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
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| 209 | else AdWertGier = (ADC + gier1); |
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| 210 | kanal = AD_ACC_Y; |
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| 211 | break; |
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| 212 | case 13: |
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| 213 | Aktuell_ay = NeutralAccY - ADC; |
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| 214 | AdWertAccRoll = (Aktuell_ay + accy); |
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| 215 | kanal = AD_ACC_X; |
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| 216 | break; |
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| 217 | case 14: |
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| 218 | Aktuell_ax = ADC - NeutralAccX; |
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| 219 | AdWertAccNick = (Aktuell_ax + accx); |
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| 220 | kanal = AD_NICK; |
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| 221 | break; |
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| 222 | case 15: |
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| 223 | nick1 += ADC; |
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| 1173 | hbuss | 224 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
| 225 | AdWertNick = nick1 / 8; |
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| 226 | nick_filter = (nick_filter + nick1) / 2; |
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| 227 | HiResNick = nick_filter - AdNeutralNick; |
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| 1171 | hbuss | 228 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
| 229 | kanal = AD_ROLL; |
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| 230 | break; |
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| 231 | case 16: |
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| 232 | roll1 += ADC; |
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| 1173 | hbuss | 233 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
| 234 | AdWertRoll = roll1 / 8; |
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| 235 | roll_filter = (roll_filter + roll1) / 2; |
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| 236 | HiResRoll = roll_filter - AdNeutralRoll; |
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| 1171 | hbuss | 237 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
| 238 | kanal = AD_DRUCK; |
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| 239 | break; |
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| 240 | case 17: |
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| 241 | state = 0; |
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| 242 | AdReady = 1; |
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| 243 | ZaehlMessungen++; |
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| 244 | // "break" fehlt hier absichtlich |
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| 245 | case 9: |
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| 246 | tmpLuftdruck += ADC; |
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| 247 | if(++messanzahl_Druck >= 5) |
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| 248 | { |
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| 249 | tmpLuftdruck /= 2; |
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| 250 | MessLuftdruck = ADC; |
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| 251 | messanzahl_Druck = 0; |
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| 252 | HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert |
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| 253 | Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8; |
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| 254 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
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| 255 | tmpLuftdruck /= 2; |
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| 256 | } |
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| 257 | kanal = AD_NICK; |
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| 258 | break; |
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| 259 | default: |
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| 260 | kanal = 0; state = 0; kanal = AD_NICK; |
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| 261 | break; |
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| 262 | } |
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| 1286 | MartinR | 263 | */ // MartinR : so war es Ende |
| 264 | // MartinR : geändert Anfang |
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| 265 | |||
| 266 | switch(state++) |
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| 267 | { |
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| 268 | case 0: |
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| 269 | nick1 = ADC; |
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| 270 | kanal = AD_ROLL; |
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| 271 | break; |
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| 272 | case 1: |
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| 273 | roll1 = ADC; |
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| 274 | kanal = AD_GIER; |
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| 275 | break; |
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| 276 | |||
| 277 | case 2: |
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| 278 | gier1 = ADC; |
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| 279 | kanal = AD_DRUCK; |
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| 280 | break; |
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| 281 | case 3: |
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| 282 | tmpLuftdruck += ADC; |
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| 283 | messanzahl_Druck ++; |
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| 284 | kanal = AD_NICK; |
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| 285 | break; |
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| 286 | |||
| 287 | case 4: |
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| 288 | nick1 += ADC; |
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| 289 | kanal = AD_ROLL; |
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| 290 | break; |
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| 291 | case 5: |
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| 292 | roll1 += ADC; |
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| 293 | kanal = AD_ACC_Y; |
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| 294 | break; |
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| 295 | |||
| 296 | case 6: |
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| 297 | Aktuell_ay = NeutralAccY - ADC; |
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| 298 | AdWertAccRoll = (Aktuell_ay + accy); |
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| 299 | accy = Aktuell_ay; |
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| 300 | kanal = AD_ACC_X; |
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| 301 | break; |
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| 302 | case 7: |
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| 303 | Aktuell_ax = ADC - NeutralAccX; |
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| 304 | AdWertAccNick = (Aktuell_ax + accx); |
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| 305 | accx = Aktuell_ax; |
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| 306 | kanal = AD_NICK; |
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| 307 | break; |
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| 308 | |||
| 309 | case 8: |
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| 310 | nick1 += ADC; |
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| 311 | kanal = AD_ROLL; |
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| 312 | break; |
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| 313 | case 9: |
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| 314 | roll1 += ADC; |
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| 315 | kanal = AD_GIER; |
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| 316 | break; |
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| 317 | |||
| 318 | case 10: |
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| 319 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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| 320 | else |
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| 321 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
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| 322 | else AdWertGier = (ADC + gier1); |
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| 323 | kanal = AD_DRUCK; |
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| 324 | break; |
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| 325 | |||
| 326 | case 11: |
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| 327 | |||
| 328 | // MartinR: neu |
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| 329 | tmpLuftdruck += ADC; |
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| 330 | //MessLuftdruck = tmpLuftdruck / 2; |
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| 331 | MessLuftdruck = ADC; |
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| 332 | |||
| 333 | if(++messanzahl_Druck >= 5) |
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| 334 | { |
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| 335 | tmpLuftdruck -= 2616L * ExpandBaro; // -523.19 counts per 10 counts offset step |
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| 336 | tmpLuftdruck /= 2; |
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| 337 | messanzahl_Druck = 0; |
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| 338 | //HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)((int)(StartLuftdruck - tmpLuftdruck) - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert |
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| 339 | Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8; |
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| 340 | HoehenWert = StartLuftdruck - Luftdruck; |
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| 341 | //tmpLuftdruck /= 2; |
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| 342 | tmpLuftdruck = 0; |
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| 343 | } |
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| 344 | |||
| 345 | // Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8; |
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| 346 | // HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; // MartinR: zu Höhenregler |
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| 347 | |||
| 348 | kanal = AD_NICK; |
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| 349 | break; |
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| 350 | |||
| 351 | case 12: |
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| 352 | nick1 += ADC; |
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| 353 | //if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; // MartinR: so war es |
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| 354 | //if(PlatinenVersion == 10) ; else nick1 *= 2; // MartinR: 2x Mittelung |
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| 355 | if(PlatinenVersion == 10) nick1 /= 2; //else nick1 *= 1; // MartinR: 4x Mittelung |
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| 356 | //AdWertNick = nick1 / 8; // MartinR: so war es |
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| 357 | //AdWertNick = nick1 / 4; // MartinR: 2x Mittelung |
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| 358 | AdWertNick = nick1 / 2; // MartinR: 4x Mittelung |
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| 359 | |||
| 360 | // nick_filter = (nick_filter + nick1) / 2; // MartinR: so war es |
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| 361 | //nick_filter = (nick_alt1 + nick1); // MartinR: anderer Nick-Filter: 2x Mittelung |
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| 362 | nick_filter = (nick_alt3 +nick_alt2 +nick_alt1 + nick1); // MartinR: anderer Nick-Filter: 4x Mittelung |
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| 363 | nick_alt3 = nick_alt2; // MartinR: anderer Nick-Filter |
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| 364 | nick_alt2 = nick_alt1; // MartinR: anderer Nick-Filter |
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| 365 | nick_alt1 = nick1; // MartinR: anderer Nick-Filter |
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| 366 | |||
| 367 | HiResNick = nick_filter - AdNeutralNick; |
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| 368 | //AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; // MartinR: so war es |
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| 369 | AdWertNickFilter = HiResNick; // MartinR: Filter deaktiviert |
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| 370 | kanal = AD_ROLL; |
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| 371 | |||
| 372 | break; |
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| 373 | case 13: |
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| 374 | roll1 += ADC; |
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| 375 | // if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; // MartinR: so war es |
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| 376 | //if(PlatinenVersion == 10) ; else roll1 *= 2; // MartinR: 2x Mittelung |
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| 377 | if(PlatinenVersion == 10) roll1 /= 2; //else roll1 *= 1; // MartinR: 4x Mittelung |
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| 378 | // AdWertRoll = roll1 / 8; // MartinR: so war es |
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| 379 | //AdWertRoll = roll1 / 4; // MartinR: 2x Mittelung |
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| 380 | AdWertRoll = roll1 / 2; // MartinR: 4x Mittelung |
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| 381 | |||
| 382 | //roll_filter = (roll_filter + roll1) / 2; // MartinR: so war es |
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| 383 | //roll_filter = (roll_alt1 + roll1); // MartinR: anderer Nick-Filter: 2x Mittelung |
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| 384 | roll_filter = (roll_alt3 + roll_alt2 + roll_alt1 + roll1); // MartinR: anderer Nick-Filter: 4x Mittelung |
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| 385 | roll_alt3 = roll_alt2; // MartinR: anderer Nick-Filter |
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| 386 | roll_alt2 = roll_alt1; // MartinR: anderer Nick-Filter |
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| 387 | roll_alt1 = roll1; // MartinR: anderer Nick-Filter |
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| 388 | |||
| 389 | HiResRoll = roll_filter - AdNeutralRoll; |
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| 390 | //AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; // MartinR: so war es |
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| 391 | AdWertRollFilter = HiResRoll; // MartinR: Filter deaktiviert |
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| 392 | |||
| 393 | kanal = AD_UBAT; |
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| 394 | |||
| 395 | break; |
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| 396 | |||
| 397 | case 14: |
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| 398 | UBat = (3 * UBat + ADC / 3) / 4; |
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| 399 | kanal = AD_ACC_Z; |
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| 400 | break; |
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| 401 | |||
| 402 | case 15: |
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| 403 | // AdWertAccHoch = (signed int) ADC - NeutralAccZ; // MartinR : so war es |
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| 404 | //AdWertAccHoch = ADC - NeutralAccZ; // MartinR: modifiziert für Tests |
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| 405 | /* // MartinR: deaktiviert |
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| 406 | |||
| 407 | if(AdWertAccHoch > 1) |
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| 408 | { |
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| 409 | if(NeutralAccZ < 750) |
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| 410 | { |
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| 411 | NeutralAccZ += 0.02; |
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| 412 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 413 | } |
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| 414 | } |
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| 415 | else if(AdWertAccHoch < -1) |
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| 416 | { |
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| 417 | if(NeutralAccZ > 550) |
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| 418 | { |
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| 419 | NeutralAccZ -= 0.02; |
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| 420 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 421 | } |
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| 422 | } |
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| 423 | */ // MartinR: deaktiviert Ende |
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| 424 | |||
| 425 | // messanzahl_AccHoch = 1; MartinR: deaktiviert, da nicht verwendet |
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| 426 | |||
| 427 | Aktuell_az = (Aktuell_az + ADC) / 2; |
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| 428 | AdWertAccHoch = Aktuell_az - NeutralAccZ; // MartinR: modifiziert für Tests |
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| 429 | //Mess_Integral_Hoch += AdWertAccHoch; // Integrieren // MartinR: zu Höhenregler in fc.c verschoben |
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| 430 | //Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen // MartinR: zu Höhenregler in fc.c verschoben |
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| 431 | |||
| 432 | AdReady = 1; |
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| 433 | state = 0; |
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| 434 | kanal = AD_NICK; |
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| 435 | break; |
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| 436 | |||
| 437 | default: |
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| 438 | kanal = 0; state = 0; kanal = AD_NICK; |
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| 439 | break; |
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| 440 | } |
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| 441 | |||
| 442 | // MartinR : geändert Ende |
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| 443 | |||
| 444 | |||
| 1171 | hbuss | 445 | ADMUX = kanal; |
| 1286 | MartinR | 446 | // if(state != 0) ANALOG_ON; // MartinR : so war es: |
| 447 | // Bei jedem Reglerzyklus wurde nur der Ablauf der Reihenfolge der AD-Wandlungen angestoßen. |
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| 448 | // Solange die Reihe nicht durchgelaufen ist, wurde nach jeder AD-Wandlung die nächste AD-Wandlung über ANALOG_ON gestartet. |
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| 449 | |||
| 450 | // if(state != 0) ANALOG_START; // MartinR verschoben zu timer0 |
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| 451 | |||
| 452 | } |
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| 1171 | hbuss | 453 | |
| 454 | |||
| 455 | |||
| 456 | /* |
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| 457 | //####################################################################################### |
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| 458 | // |
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| 459 | SIGNAL(SIG_ADC) |
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| 460 | //####################################################################################### |
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| 461 | { |
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| 462 | static unsigned char kanal=0,state = 0; |
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| 1166 | hbuss | 463 | static signed int gier1, roll1, nick1; |
| 464 | static signed long nick_filter, roll_filter; |
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| 465 | static signed int accy, accx; |
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| 466 | switch(state++) |
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| 467 | { |
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| 468 | case 0: |
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| 469 | nick1 = ADC; |
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| 470 | kanal = AD_ROLL; |
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| 471 | break; |
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| 472 | case 1: |
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| 473 | roll1 = ADC; |
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| 474 | kanal = AD_GIER; |
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| 475 | break; |
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| 476 | case 2: |
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| 477 | gier1 = ADC; |
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| 478 | kanal = AD_ACC_Y; |
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| 479 | break; |
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| 480 | case 3: |
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| 481 | Aktuell_ay = NeutralAccY - ADC; |
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| 482 | accy = Aktuell_ay; |
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| 483 | kanal = AD_NICK; |
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| 484 | break; |
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| 485 | case 4: |
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| 486 | nick1 += ADC; |
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| 487 | kanal = AD_ROLL; |
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| 488 | break; |
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| 489 | case 5: |
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| 490 | roll1 += ADC; |
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| 491 | kanal = AD_ACC_Z; |
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| 492 | break; |
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| 493 | case 6: |
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| 494 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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| 495 | if(AdWertAccHoch > 1) |
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| 496 | { |
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| 497 | if(NeutralAccZ < 750) |
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| 498 | { |
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| 499 | NeutralAccZ += 0.02; |
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| 500 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 501 | } |
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| 502 | } |
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| 503 | else if(AdWertAccHoch < -1) |
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| 504 | { |
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| 505 | if(NeutralAccZ > 550) |
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| 506 | { |
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| 507 | NeutralAccZ-= 0.02; |
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| 508 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 509 | } |
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| 510 | } |
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| 511 | messanzahl_AccHoch = 1; |
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| 512 | Aktuell_az = ADC; |
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| 513 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 514 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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| 515 | kanal = AD_NICK; |
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| 516 | break; |
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| 517 | case 7: |
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| 518 | nick1 += ADC; |
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| 519 | kanal = AD_ROLL; |
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| 520 | break; |
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| 521 | case 8: |
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| 522 | roll1 += ADC; |
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| 523 | kanal = AD_ACC_X; |
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| 524 | break; |
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| 525 | case 9: |
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| 526 | Aktuell_ax = ADC - NeutralAccX; |
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| 527 | accx = Aktuell_ax; |
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| 528 | kanal = AD_GIER; |
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| 529 | break; |
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| 530 | case 10: |
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| 531 | gier1 += ADC; |
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| 532 | kanal = AD_NICK; |
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| 533 | break; |
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| 534 | case 11: |
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| 535 | nick1 += ADC; |
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| 536 | kanal = AD_ROLL; |
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| 537 | break; |
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| 538 | case 12: |
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| 539 | roll1 += ADC; |
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| 540 | kanal = AD_UBAT; |
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| 541 | break; |
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| 542 | case 13: |
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| 543 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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| 544 | kanal = AD_ACC_Y; |
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| 545 | break; |
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| 546 | case 14: |
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| 547 | Aktuell_ay = NeutralAccY - ADC; |
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| 548 | accy += Aktuell_ay; |
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| 549 | kanal = AD_NICK; |
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| 550 | break; |
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| 551 | case 15: |
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| 552 | nick1 += ADC; |
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| 553 | kanal = AD_ROLL; |
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| 554 | break; |
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| 555 | case 16: |
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| 556 | roll1 += ADC; |
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| 557 | kanal = AD_ACC_X; |
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| 558 | break; |
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| 559 | case 17: |
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| 560 | Aktuell_ax = ADC - NeutralAccX; |
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| 561 | accx += Aktuell_ax; |
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| 562 | kanal = AD_NICK; |
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| 563 | break; |
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| 564 | case 18: |
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| 565 | nick1 += ADC; |
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| 566 | kanal = AD_ROLL; |
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| 567 | break; |
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| 568 | case 19: |
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| 569 | roll1 += ADC; |
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| 570 | kanal = AD_GIER; |
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| 571 | break; |
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| 572 | case 20: |
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| 573 | gier1 += ADC; |
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| 574 | kanal = AD_ACC_Y; |
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| 575 | break; |
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| 576 | case 21: |
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| 577 | Aktuell_ay = NeutralAccY - ADC; |
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| 578 | accy += Aktuell_ay; |
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| 579 | kanal = AD_NICK; |
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| 580 | break; |
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| 581 | case 22: |
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| 582 | nick1 += ADC; |
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| 583 | kanal = AD_ROLL; |
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| 584 | break; |
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| 585 | case 23: |
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| 586 | roll1 += ADC; |
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| 587 | kanal = AD_DRUCK; |
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| 588 | break; |
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| 589 | case 24: |
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| 590 | tmpLuftdruck += ADC; |
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| 591 | if(++messanzahl_Druck >= 5) |
||
| 592 | { |
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| 593 | MessLuftdruck = ADC; |
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| 594 | messanzahl_Druck = 0; |
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| 1167 | hbuss | 595 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
| 1166 | hbuss | 596 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| 597 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
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| 598 | tmpLuftdruck = 0; |
||
| 599 | } |
||
| 600 | kanal = AD_NICK; |
||
| 601 | break; |
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| 602 | case 25: |
||
| 603 | nick1 += ADC; |
||
| 604 | kanal = AD_ROLL; |
||
| 605 | break; |
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| 606 | case 26: |
||
| 607 | roll1 += ADC; |
||
| 608 | kanal = AD_ACC_X; |
||
| 609 | break; |
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| 610 | case 27: |
||
| 611 | Aktuell_ax = ADC - NeutralAccX; |
||
| 612 | accx += Aktuell_ax; |
||
| 613 | kanal = AD_GIER; |
||
| 614 | break; |
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| 615 | case 28: |
||
| 616 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
||
| 617 | else |
||
| 618 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
||
| 619 | else AdWertGier = (ADC + gier1 + 1) / 2; |
||
| 620 | kanal = AD_NICK; |
||
| 621 | break; |
||
| 622 | case 29: |
||
| 623 | nick1 += ADC; |
||
| 624 | kanal = AD_ROLL; |
||
| 625 | break; |
||
| 626 | case 30: |
||
| 627 | roll1 += ADC; |
||
| 628 | kanal = AD_ACC_Y; |
||
| 629 | break; |
||
| 630 | case 31: |
||
| 631 | Aktuell_ay = NeutralAccY - ADC; |
||
| 632 | AdWertAccRoll = (Aktuell_ay + accy); |
||
| 633 | kanal = AD_NICK; |
||
| 634 | break; |
||
| 635 | case 32: |
||
| 636 | AdWertNick = (ADC + nick1 + 3) / 5; |
||
| 637 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
||
| 638 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
||
| 639 | HiResNick = nick_filter - 20 * AdNeutralNick; |
||
| 640 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
||
| 641 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
||
| 642 | kanal = AD_ROLL; |
||
| 643 | break; |
||
| 644 | case 33: |
||
| 645 | AdWertRoll = (ADC + roll1 + 3) / 5; |
||
| 646 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
||
| 647 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
||
| 648 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
||
| 649 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
||
| 650 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
||
| 651 | kanal = AD_ACC_X; |
||
| 652 | break; |
||
| 653 | case 34: |
||
| 654 | Aktuell_ax = ADC - NeutralAccX; |
||
| 655 | AdWertAccNick = (Aktuell_ax + accx); |
||
| 656 | kanal = AD_NICK; |
||
| 657 | state = 0; |
||
| 658 | AdReady = 1; |
||
| 659 | ZaehlMessungen++; |
||
| 660 | break; |
||
| 661 | default: |
||
| 662 | kanal = 0; |
||
| 663 | state = 0; |
||
| 664 | break; |
||
| 665 | } |
||
| 666 | ADMUX = kanal; |
||
| 667 | if(state != 0) ANALOG_ON; |
||
| 668 | } |
||
| 1171 | hbuss | 669 | */ |