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1 ingob 1 
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + only for non-profit use
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// + www.MikroKopter.com
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include "main.h"
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volatile int  Aktuell_Nick,Aktuell_Roll,Aktuell_Gier,Aktuell_ax, Aktuell_ay,Aktuell_az, UBat = 100;
380 hbuss 11 
volatile int  AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0;
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volatile int  AdWertAccRoll = 0,AdWertAccNick = 0,AdWertAccHoch = 0;
1 ingob 13 
volatile char MessanzahlNick = 0, MessanzahlRoll = 0, MessanzahlGier = 0;
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volatile char messanzahl_AccNick = 0, messanzahl_AccRoll = 0, messanzahl_AccHoch = 0;
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volatile long Luftdruck = 32000;
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volatile int  StartLuftdruck;
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volatile unsigned int  MessLuftdruck = 1023;
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unsigned char DruckOffsetSetting;
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volatile int HoeheD = 0;
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volatile char messanzahl_Druck;
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volatile int  tmpLuftdruck;
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volatile unsigned int ZaehlMessungen = 0;
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//#######################################################################################
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//
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void ADC_Init(void)
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//#######################################################################################
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{
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    ADMUX = 0;//Referenz ist extern
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    ADCSRA=(1<<ADEN)|(1<<ADSC)|(1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE);
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    //Free Running Mode, Division Factor 128, Interrupt on
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}
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void SucheLuftruckOffset(void)
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{
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 unsigned int off;
173 holgerb 37 
 off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]);
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 if(off > 20) off -= 10;
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 OCR0A = off;
380 hbuss 40 
 Delay_ms_Mess(100);
173 holgerb 41 
 if(MessLuftdruck < 850) off = 0;
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 for(; off < 250;off++)
1 ingob 43 
  {
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  OCR0A = off;
380 hbuss 45 
  Delay_ms_Mess(50);
1 ingob 46 
  printf(".");  
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  if(MessLuftdruck < 900) break;
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  }
173 holgerb 49 
 eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off);
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 DruckOffsetSetting = off;
380 hbuss 51 
 Delay_ms_Mess(300);
1 ingob 52 
}
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//#######################################################################################
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//
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SIGNAL(SIG_ADC)
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//#######################################################################################
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{
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    static unsigned char kanal=0,state = 0;
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    ANALOG_OFF;
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    switch(state++)
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        {
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        case 0:
380 hbuss 65 
            AdWertGier = ADC;
1 ingob 66 
            kanal = 1;
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            ZaehlMessungen++;
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            break;
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        case 1:
380 hbuss 70 
            AdWertRoll = ADC;
1 ingob 71 
            kanal = 2;
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            break;
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        case 2:
380 hbuss 74 
            AdWertNick = ADC;
1 ingob 75 
            kanal = 4;
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            break;
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        case 3:
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            UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19)  / 2;
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            kanal = 6;
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            break;
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        case 4:
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            Aktuell_ay = NeutralAccY - ADC;
380 hbuss 83 
            AdWertAccRoll = Aktuell_ay;
1 ingob 84 
            kanal = 7;
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            break;
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        case 5:
128 ingob 87 
            Aktuell_ax = ADC - NeutralAccX;
380 hbuss 88 
            AdWertAccNick =  Aktuell_ax;
1 ingob 89 
                    kanal = 5;
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            break;
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        case 6:
380 hbuss 92 
            AdWertAccHoch =  (signed int) ADC - NeutralAccZ;
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            AdWertAccHoch += abs(Aktuell_ay) / 4 + abs(Aktuell_ax) / 4;
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            if(AdWertAccHoch > 1)
1 ingob 95 
             {
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              if(NeutralAccZ < 800) NeutralAccZ+= 0.02;
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             }  
380 hbuss 98 
             else if(AdWertAccHoch < -1)
1 ingob 99 
             {
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              if(NeutralAccZ > 600) NeutralAccZ-= 0.02;
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             }
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            messanzahl_AccHoch = 1;
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            Aktuell_az = ADC;
380 hbuss 104 
            Mess_Integral_Hoch += AdWertAccHoch;      // Integrieren
1 ingob 105 
            Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen
380 hbuss 106 
                kanal = 3;
1 ingob 107 
            break;
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        case 7:
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            tmpLuftdruck += ADC;
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            if(++messanzahl_Druck >= 5)
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                {
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                MessLuftdruck = ADC;
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                messanzahl_Druck = 0;
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                                HoeheD = (int)(StartLuftdruck - tmpLuftdruck - HoehenWert);  // D-Anteil = neuerWert - AlterWert
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                Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4;
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                HoehenWert = StartLuftdruck - Luftdruck;
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                tmpLuftdruck = 0;
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                }
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            kanal = 0;
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            state = 0;
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            break;
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        default:
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            kanal = 0;
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            state = 0;
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            break;
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        }
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    ADMUX = kanal;
380 hbuss 128 
    if(state != 0) ANALOG_ON;
1 ingob 129 
}