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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 975 | ligi | 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 | |||
| 10 | volatile int Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100; |
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| 11 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
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| 12 | volatile int AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0; |
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| 13 | volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0; |
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| 14 | volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0; |
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| 15 | volatile long Luftdruck = 32000; |
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| 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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| 19 | volatile int HoeheD = 0; |
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| 20 | volatile char messanzahl_Druck; |
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| 21 | volatile int tmpLuftdruck; |
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| 22 | volatile unsigned int ZaehlMessungen = 0; |
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| 23 | unsigned char AnalogOffsetNick = 115,AnalogOffsetRoll = 115,AnalogOffsetGier = 115; |
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| 24 | unsigned char GyroDefektN = 0,GyroDefektR = 0,GyroDefektG = 0; |
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| 25 | //####################################################################################### |
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| 26 | // |
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| 27 | void ADC_Init(void) |
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| 28 | //####################################################################################### |
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| 29 | { |
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| 30 | ADMUX = 0;//Referenz ist extern |
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| 31 | ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE); |
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| 32 | //Free Running Mode, Division Factor 128, Interrupt on |
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| 33 | } |
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| 34 | |||
| 35 | void SucheLuftruckOffset(void) |
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| 36 | { |
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| 37 | unsigned int off; |
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| 38 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
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| 39 | if(off > 20) off -= 10; |
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| 40 | OCR0A = off; |
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| 41 | Delay_ms_Mess(100); |
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| 42 | if(MessLuftdruck < 850) off = 0; |
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| 43 | for(; off < 250;off++) |
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| 44 | { |
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| 45 | OCR0A = off; |
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| 46 | Delay_ms_Mess(50); |
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| 47 | printf("."); |
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| 48 | if(MessLuftdruck < 900) break; |
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| 49 | } |
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| 50 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
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| 51 | DruckOffsetSetting = off; |
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| 52 | Delay_ms_Mess(300); |
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| 53 | } |
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| 54 | |||
| 55 | void SucheGyroOffset(void) |
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| 56 | { |
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| 57 | unsigned char i, ready = 0; |
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| 58 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
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| 59 | for(i=140; i != 0; i--) |
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| 60 | { |
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| 61 | if(ready == 3 && i > 10) i = 9; |
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| 62 | ready = 0; |
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| 63 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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| 64 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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| 65 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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| 66 | twi_state = 8; |
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| 67 | i2c_start(); |
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| 68 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
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| 69 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
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| 70 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
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| 71 | while(twi_state); |
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| 72 | messanzahl_Druck = 0; |
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| 73 | ANALOG_ON; |
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| 74 | while(messanzahl_Druck == 0); |
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| 75 | if(i<10) Delay_ms_Mess(10); |
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| 76 | } |
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| 77 | Delay_ms_Mess(70); |
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| 78 | } |
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| 79 | |||
| 80 | |||
| 81 | //####################################################################################### |
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| 82 | // |
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| 83 | SIGNAL(SIG_ADC) |
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| 84 | //####################################################################################### |
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| 85 | { |
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| 86 | static unsigned char kanal=0,state = 0; |
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| 87 | static unsigned int gier1, roll1, nick1; |
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| 88 | ANALOG_OFF; |
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| 89 | switch(state++) |
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| 90 | { |
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| 91 | case 0: |
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| 92 | gier1 = ADC; |
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| 93 | kanal = 1; |
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| 94 | ZaehlMessungen++; |
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| 95 | break; |
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| 96 | case 1: |
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| 97 | roll1 = ADC; |
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| 98 | kanal = 2; |
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| 99 | break; |
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| 100 | case 2: |
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| 101 | nick1 = ADC; |
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| 102 | kanal = 4; |
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| 103 | break; |
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| 104 | case 3: |
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| 105 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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| 106 | kanal = 6; |
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| 107 | break; |
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| 108 | case 4: |
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| 109 | Aktuell_ay = NeutralAccY - ADC; |
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| 110 | AdWertAccRoll = Aktuell_ay; |
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| 111 | kanal = 7; |
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| 112 | break; |
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| 113 | case 5: |
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| 114 | Aktuell_ax = ADC - NeutralAccX; |
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| 115 | AdWertAccNick = Aktuell_ax; |
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| 116 | kanal = 0; |
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| 117 | break; |
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| 118 | case 6: |
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| 119 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1) / 2; |
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| 120 | else AdWertGier = ADC + gier1; |
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| 121 | kanal = 1; |
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| 122 | break; |
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| 123 | case 7: |
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| 124 | if(PlatinenVersion == 10) AdWertRoll = (ADC + roll1) / 2; |
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| 125 | else AdWertRoll = ADC + roll1; |
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| 126 | kanal = 2; |
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| 127 | break; |
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| 128 | case 8: |
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| 129 | if(PlatinenVersion == 10) AdWertNick = (ADC + nick1) / 2; |
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| 130 | else AdWertNick = ADC + nick1; |
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| 131 | //AdWertNick = 0; |
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| 132 | //AdWertNick += Poti2; |
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| 133 | kanal = 5; |
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| 134 | break; |
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| 135 | case 9: |
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| 136 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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| 137 | // AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4; |
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| 138 | if(AdWertAccHoch > 1) |
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| 139 | { |
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| 140 | if(NeutralAccZ < 750) |
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| 141 | { |
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| 142 | NeutralAccZ += 0.02; |
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| 143 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 144 | } |
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| 145 | } |
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| 146 | else if(AdWertAccHoch < -1) |
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| 147 | { |
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| 148 | if(NeutralAccZ > 550) |
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| 149 | { |
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| 150 | NeutralAccZ-= 0.02; |
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| 151 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 152 | } |
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| 153 | } |
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| 154 | messanzahl_AccHoch = 1; |
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| 155 | Aktuell_az = ADC; |
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| 156 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 157 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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| 158 | kanal = 3; |
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| 159 | break; |
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| 160 | case 10: |
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| 161 | tmpLuftdruck += ADC; |
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| 162 | if(++messanzahl_Druck >= 5) |
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| 163 | { |
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| 164 | MessLuftdruck = ADC; |
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| 165 | messanzahl_Druck = 0; |
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| 166 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(StartLuftdruck - tmpLuftdruck - HoehenWert))/8; // D-Anteil = neuerWert - AlterWert |
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| 167 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
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| 168 | HoehenWert = StartLuftdruck - Luftdruck; |
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| 169 | tmpLuftdruck = 0; |
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| 170 | } |
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| 171 | kanal = 0; |
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| 172 | state = 0; |
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| 173 | break; |
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| 174 | default: |
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| 175 | kanal = 0; |
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| 176 | state = 0; |
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| 177 | break; |
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| 178 | } |
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| 179 | ADMUX = kanal; |
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| 180 | if(state != 0) ANALOG_ON; |
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| 181 | } |