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| 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 | |
| 1247 | 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 | |||
| 1247 | MartinR | 105 | |
| 106 | /* MartinR : geändert |
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| 107 | |||
| 108 | 1 r |
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| 109 | 2 g |
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| 110 | 3 L |
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| 111 | 4 n |
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| 112 | 5 r |
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| 113 | 6 y |
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| 114 | 7 x |
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| 115 | 8 n |
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| 116 | 9 r |
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| 117 | 10 g |
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| 118 | 11 L |
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| 119 | 12 n |
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| 120 | 13 r |
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| 121 | 14 u |
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| 122 | 15 z |
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| 123 | */ |
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| 124 | |||
| 1 | ingob | 125 | //####################################################################################### |
| 126 | // |
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| 127 | SIGNAL(SIG_ADC) |
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| 128 | //####################################################################################### |
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| 129 | { |
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| 130 | static unsigned char kanal=0,state = 0; |
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| 1171 | hbuss | 131 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
| 1247 | MartinR | 132 | |
| 133 | static signed int roll_alt1, roll_alt2, roll_alt3, nick_alt1, nick_alt2, nick_alt3; // MartinR: 4x Mittelung |
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| 134 | //static signed int roll_alt1, nick_alt1; // MartinR: 2x Mittelung |
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| 135 | |||
| 1171 | hbuss | 136 | static signed int accy, accx; |
| 1247 | MartinR | 137 | |
| 138 | /* // MartinR : so war es Anfang |
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| 1171 | hbuss | 139 | switch(state++) |
| 140 | { |
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| 141 | case 0: |
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| 142 | nick1 = ADC; |
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| 143 | kanal = AD_ROLL; |
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| 144 | break; |
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| 145 | case 1: |
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| 146 | roll1 = ADC; |
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| 147 | kanal = AD_GIER; |
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| 148 | break; |
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| 149 | case 2: |
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| 150 | gier1 = ADC; |
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| 151 | kanal = AD_ACC_Y; |
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| 152 | break; |
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| 153 | case 3: |
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| 154 | Aktuell_ay = NeutralAccY - ADC; |
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| 155 | accy = Aktuell_ay; |
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| 156 | kanal = AD_ACC_X; |
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| 157 | break; |
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| 158 | case 4: |
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| 159 | Aktuell_ax = ADC - NeutralAccX; |
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| 160 | accx = Aktuell_ax; |
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| 161 | kanal = AD_NICK; |
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| 162 | break; |
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| 163 | case 5: |
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| 164 | nick1 += ADC; |
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| 165 | kanal = AD_ROLL; |
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| 166 | break; |
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| 167 | case 6: |
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| 168 | roll1 += ADC; |
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| 169 | kanal = AD_UBAT; |
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| 170 | break; |
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| 171 | case 7: |
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| 172 | UBat = (3 * UBat + ADC / 3) / 4; |
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| 173 | kanal = AD_ACC_Z; |
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| 174 | break; |
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| 175 | case 8: |
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| 176 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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| 177 | if(AdWertAccHoch > 1) |
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| 178 | { |
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| 179 | if(NeutralAccZ < 750) |
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| 180 | { |
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| 181 | NeutralAccZ += 0.02; |
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| 182 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 183 | } |
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| 184 | } |
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| 185 | else if(AdWertAccHoch < -1) |
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| 186 | { |
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| 187 | if(NeutralAccZ > 550) |
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| 188 | { |
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| 189 | NeutralAccZ-= 0.02; |
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| 190 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 191 | } |
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| 192 | } |
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| 193 | messanzahl_AccHoch = 1; |
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| 194 | Aktuell_az = ADC; |
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| 195 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 196 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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| 197 | kanal = AD_DRUCK; |
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| 198 | break; |
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| 199 | // "case 8:" fehlt hier absichtlich |
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| 200 | case 10: |
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| 201 | nick1 += ADC; |
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| 202 | kanal = AD_ROLL; |
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| 203 | break; |
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| 204 | case 11: |
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| 205 | roll1 += ADC; |
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| 206 | kanal = AD_GIER; |
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| 207 | break; |
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| 208 | case 12: |
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| 209 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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| 210 | else |
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| 211 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
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| 212 | else AdWertGier = (ADC + gier1); |
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| 213 | kanal = AD_ACC_Y; |
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| 214 | break; |
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| 215 | case 13: |
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| 216 | Aktuell_ay = NeutralAccY - ADC; |
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| 217 | AdWertAccRoll = (Aktuell_ay + accy); |
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| 218 | kanal = AD_ACC_X; |
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| 219 | break; |
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| 220 | case 14: |
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| 221 | Aktuell_ax = ADC - NeutralAccX; |
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| 222 | AdWertAccNick = (Aktuell_ax + accx); |
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| 223 | kanal = AD_NICK; |
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| 224 | break; |
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| 225 | case 15: |
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| 226 | nick1 += ADC; |
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| 1173 | hbuss | 227 | if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; |
| 228 | AdWertNick = nick1 / 8; |
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| 229 | nick_filter = (nick_filter + nick1) / 2; |
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| 230 | HiResNick = nick_filter - AdNeutralNick; |
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| 1171 | hbuss | 231 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; |
| 232 | kanal = AD_ROLL; |
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| 233 | break; |
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| 234 | case 16: |
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| 235 | roll1 += ADC; |
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| 1173 | hbuss | 236 | if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; |
| 237 | AdWertRoll = roll1 / 8; |
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| 238 | roll_filter = (roll_filter + roll1) / 2; |
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| 239 | HiResRoll = roll_filter - AdNeutralRoll; |
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| 1171 | hbuss | 240 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; |
| 241 | kanal = AD_DRUCK; |
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| 242 | break; |
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| 243 | case 17: |
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| 244 | state = 0; |
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| 245 | AdReady = 1; |
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| 246 | ZaehlMessungen++; |
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| 247 | // "break" fehlt hier absichtlich |
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| 248 | case 9: |
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| 249 | tmpLuftdruck += ADC; |
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| 250 | if(++messanzahl_Druck >= 5) |
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| 251 | { |
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| 252 | tmpLuftdruck /= 2; |
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| 253 | MessLuftdruck = ADC; |
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| 254 | messanzahl_Druck = 0; |
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| 255 | HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert |
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| 256 | Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8; |
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| 257 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
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| 258 | tmpLuftdruck /= 2; |
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| 259 | } |
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| 260 | kanal = AD_NICK; |
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| 261 | break; |
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| 262 | default: |
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| 263 | kanal = 0; state = 0; kanal = AD_NICK; |
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| 264 | break; |
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| 265 | } |
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| 1247 | MartinR | 266 | |
| 267 | */ // MartinR : so war es Ende |
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| 268 | |||
| 269 | // MartinR : geändert Anfang |
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| 270 | |||
| 271 | switch(state++) |
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| 272 | { |
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| 273 | case 0: |
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| 274 | nick1 = ADC; |
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| 275 | kanal = AD_ROLL; |
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| 276 | break; |
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| 277 | case 1: |
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| 278 | roll1 = ADC; |
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| 279 | kanal = AD_GIER; |
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| 280 | break; |
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| 281 | |||
| 282 | case 2: |
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| 283 | gier1 = ADC; |
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| 284 | kanal = AD_DRUCK; |
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| 285 | break; |
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| 286 | case 3: |
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| 287 | tmpLuftdruck = ADC; |
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| 288 | kanal = AD_NICK; |
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| 289 | break; |
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| 290 | |||
| 291 | case 4: |
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| 292 | nick1 += ADC; |
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| 293 | kanal = AD_ROLL; |
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| 294 | break; |
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| 295 | case 5: |
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| 296 | roll1 += ADC; |
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| 297 | kanal = AD_ACC_Y; |
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| 298 | break; |
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| 299 | |||
| 300 | case 6: |
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| 301 | Aktuell_ay = NeutralAccY - ADC; |
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| 302 | AdWertAccRoll = (Aktuell_ay + accy); |
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| 303 | accy = Aktuell_ay; |
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| 304 | kanal = AD_ACC_X; |
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| 305 | break; |
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| 306 | case 7: |
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| 307 | Aktuell_ax = ADC - NeutralAccX; |
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| 308 | AdWertAccNick = (Aktuell_ax + accx); |
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| 309 | accx = Aktuell_ax; |
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| 310 | kanal = AD_NICK; |
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| 311 | break; |
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| 312 | |||
| 313 | case 8: |
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| 314 | nick1 += ADC; |
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| 315 | kanal = AD_ROLL; |
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| 316 | break; |
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| 317 | case 9: |
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| 318 | roll1 += ADC; |
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| 319 | kanal = AD_GIER; |
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| 320 | break; |
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| 321 | |||
| 322 | case 10: |
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| 323 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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| 324 | else |
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| 325 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
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| 326 | else AdWertGier = (ADC + gier1); |
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| 327 | kanal = AD_DRUCK; |
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| 328 | break; |
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| 329 | |||
| 330 | case 11: |
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| 331 | /* MartinR: so war es Anfang |
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| 332 | HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert |
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| 333 | */ //MartinR: so war es Ende |
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| 334 | |||
| 335 | // MartinR: Änderungen Anfang : |
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| 336 | /* |
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| 337 | HoehenWertSumme += HoehenWert ; |
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| 338 | if (++ iHoehe >= 40) // MartinR: Wartezeit um auch kleine Änderungsgeschwindigkeiten erkennen zu können |
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| 339 | { |
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| 340 | HoehenWertSumme = HoehenWertSumme / iHoehe ; // MartinR: Mittelwert während der Wartezeit |
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| 341 | HoeheD = (int) Parameter_Luftdruck_D * (HoehenWert - HoehenWertalt) ; |
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| 342 | if (HoeheD < 0) HoeheD += Parameter_Luftdruck_D ; // MartinR: Digitalisierungsrauschen abmindern |
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| 343 | if (HoeheD > 0) HoeheD -= Parameter_Luftdruck_D ; // MartinR: entspricht - 1 Bit vom Höhenwert |
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| 344 | |||
| 345 | iHoehe = 0 ; |
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| 346 | HoehenWertalt = HoehenWertSumme ; |
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| 347 | HoehenWertSumme = 0 ; |
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| 348 | } |
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| 349 | */ |
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| 350 | |||
| 351 | // MartinR: neu |
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| 352 | tmpLuftdruck += ADC; |
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| 353 | MessLuftdruck = tmpLuftdruck / 2; |
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| 354 | Luftdruck = (MessLuftdruck + 7 * Luftdruck + 4) / 8; |
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| 355 | // HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; // MartinR: zu Höhenregler |
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| 356 | |||
| 357 | kanal = AD_NICK; |
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| 358 | break; |
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| 359 | |||
| 360 | case 12: |
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| 361 | nick1 += ADC; |
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| 362 | //if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; // MartinR: so war es |
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| 363 | //if(PlatinenVersion == 10) ; else nick1 *= 2; // MartinR: 2x Mittelung |
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| 364 | if(PlatinenVersion == 10) nick1 /= 2; //else nick1 *= 1; // MartinR: 4x Mittelung |
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| 365 | //AdWertNick = nick1 / 8; // MartinR: so war es |
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| 366 | //AdWertNick = nick1 / 4; // MartinR: 2x Mittelung |
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| 367 | AdWertNick = nick1 / 2; // MartinR: 4x Mittelung |
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| 368 | |||
| 369 | // nick_filter = (nick_filter + nick1) / 2; // MartinR: so war es |
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| 370 | //nick_filter = (nick_alt1 + nick1); // MartinR: anderer Nick-Filter: 2x Mittelung |
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| 371 | nick_filter = (nick_alt3 +nick_alt2 +nick_alt1 + nick1); // MartinR: anderer Nick-Filter: 4x Mittelung |
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| 372 | nick_alt3 = nick_alt2; // MartinR: anderer Nick-Filter |
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| 373 | nick_alt2 = nick_alt1; // MartinR: anderer Nick-Filter |
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| 374 | nick_alt1 = nick1; // MartinR: anderer Nick-Filter |
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| 375 | |||
| 376 | HiResNick = nick_filter - AdNeutralNick; |
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| 377 | //AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; // MartinR: so war es |
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| 378 | AdWertNickFilter = HiResNick; // MartinR: Filter deaktiviert |
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| 379 | kanal = AD_ROLL; |
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| 380 | |||
| 381 | break; |
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| 382 | case 13: |
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| 383 | roll1 += ADC; |
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| 384 | // if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; // MartinR: so war es |
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| 385 | //if(PlatinenVersion == 10) ; else roll1 *= 2; // MartinR: 2x Mittelung |
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| 386 | if(PlatinenVersion == 10) roll1 /= 2; //else roll1 *= 1; // MartinR: 4x Mittelung |
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| 387 | // AdWertRoll = roll1 / 8; // MartinR: so war es |
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| 388 | //AdWertRoll = roll1 / 4; // MartinR: 2x Mittelung |
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| 389 | AdWertRoll = roll1 / 2; // MartinR: 4x Mittelung |
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| 390 | |||
| 391 | //roll_filter = (roll_filter + roll1) / 2; // MartinR: so war es |
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| 392 | //roll_filter = (roll_alt1 + roll1); // MartinR: anderer Nick-Filter: 2x Mittelung |
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| 393 | roll_filter = (roll_alt3 + roll_alt2 + roll_alt1 + roll1); // MartinR: anderer Nick-Filter: 4x Mittelung |
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| 394 | roll_alt3 = roll_alt2; // MartinR: anderer Nick-Filter |
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| 395 | roll_alt2 = roll_alt1; // MartinR: anderer Nick-Filter |
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| 396 | roll_alt1 = roll1; // MartinR: anderer Nick-Filter |
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| 397 | |||
| 398 | HiResRoll = roll_filter - AdNeutralRoll; |
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| 399 | //AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; // MartinR: so war es |
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| 400 | AdWertRollFilter = HiResRoll; // MartinR: Filter deaktiviert |
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| 401 | |||
| 402 | kanal = AD_UBAT; |
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| 403 | |||
| 404 | break; |
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| 405 | |||
| 406 | case 14: |
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| 407 | UBat = (3 * UBat + ADC / 3) / 4; |
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| 408 | kanal = AD_ACC_Z; |
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| 409 | break; |
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| 410 | |||
| 411 | case 15: |
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| 412 | // AdWertAccHoch = (signed int) ADC - NeutralAccZ; // MartinR : so war es |
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| 413 | //AdWertAccHoch = ADC - NeutralAccZ; // MartinR: modifiziert für Tests |
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| 414 | /* // MartinR: deaktiviert |
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| 415 | |||
| 416 | if(AdWertAccHoch > 1) |
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| 417 | { |
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| 418 | if(NeutralAccZ < 750) |
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| 419 | { |
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| 420 | NeutralAccZ += 0.02; |
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| 421 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 422 | } |
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| 423 | } |
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| 424 | else if(AdWertAccHoch < -1) |
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| 425 | { |
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| 426 | if(NeutralAccZ > 550) |
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| 427 | { |
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| 428 | NeutralAccZ -= 0.02; |
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| 429 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 430 | } |
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| 431 | } |
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| 432 | */ // MartinR: deaktiviert Ende |
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| 433 | |||
| 434 | // messanzahl_AccHoch = 1; MartinR: deaktiviert, da nicht verwendet |
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| 435 | |||
| 436 | Aktuell_az = (Aktuell_az + ADC) / 2; |
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| 437 | AdWertAccHoch = Aktuell_az - NeutralAccZ; // MartinR: modifiziert für Tests |
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| 438 | //Mess_Integral_Hoch += AdWertAccHoch; // Integrieren // MartinR: zu Höhenregler in fc.c verschoben |
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| 439 | //Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen // MartinR: zu Höhenregler in fc.c verschoben |
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| 440 | |||
| 441 | AdReady = 1; |
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| 442 | state = 0; |
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| 443 | kanal = AD_NICK; |
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| 444 | break; |
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| 445 | |||
| 446 | default: |
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| 447 | kanal = 0; state = 0; kanal = AD_NICK; |
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| 448 | break; |
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| 449 | } |
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| 450 | |||
| 451 | // MartinR : geändert Ende |
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| 452 | |||
| 453 | |||
| 1171 | hbuss | 454 | ADMUX = kanal; |
| 1247 | MartinR | 455 | // if(state != 0) ANALOG_ON; // MartinR : so war es |
| 456 | // if(state != 0) ANALOG_START; // MartinR verschoben zu timer0 |
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| 457 | |||
| 1171 | hbuss | 458 | } |
| 459 | |||
| 460 | |||
| 461 | |||
| 462 | /* |
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| 463 | //####################################################################################### |
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| 464 | // |
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| 465 | SIGNAL(SIG_ADC) |
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| 466 | //####################################################################################### |
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| 467 | { |
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| 468 | static unsigned char kanal=0,state = 0; |
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| 1166 | hbuss | 469 | static signed int gier1, roll1, nick1; |
| 470 | static signed long nick_filter, roll_filter; |
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| 471 | static signed int accy, accx; |
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| 472 | switch(state++) |
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| 473 | { |
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| 474 | case 0: |
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| 475 | nick1 = ADC; |
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| 476 | kanal = AD_ROLL; |
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| 477 | break; |
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| 478 | case 1: |
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| 479 | roll1 = ADC; |
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| 480 | kanal = AD_GIER; |
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| 481 | break; |
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| 482 | case 2: |
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| 483 | gier1 = ADC; |
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| 484 | kanal = AD_ACC_Y; |
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| 485 | break; |
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| 486 | case 3: |
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| 487 | Aktuell_ay = NeutralAccY - ADC; |
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| 488 | accy = Aktuell_ay; |
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| 489 | kanal = AD_NICK; |
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| 490 | break; |
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| 491 | case 4: |
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| 492 | nick1 += ADC; |
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| 493 | kanal = AD_ROLL; |
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| 494 | break; |
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| 495 | case 5: |
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| 496 | roll1 += ADC; |
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| 497 | kanal = AD_ACC_Z; |
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| 498 | break; |
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| 499 | case 6: |
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| 500 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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| 501 | if(AdWertAccHoch > 1) |
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| 502 | { |
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| 503 | if(NeutralAccZ < 750) |
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| 504 | { |
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| 505 | NeutralAccZ += 0.02; |
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| 506 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 507 | } |
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| 508 | } |
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| 509 | else if(AdWertAccHoch < -1) |
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| 510 | { |
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| 511 | if(NeutralAccZ > 550) |
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| 512 | { |
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| 513 | NeutralAccZ-= 0.02; |
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| 514 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 515 | } |
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| 516 | } |
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| 517 | messanzahl_AccHoch = 1; |
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| 518 | Aktuell_az = ADC; |
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| 519 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 520 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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| 521 | kanal = AD_NICK; |
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| 522 | break; |
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| 523 | case 7: |
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| 524 | nick1 += ADC; |
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| 525 | kanal = AD_ROLL; |
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| 526 | break; |
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| 527 | case 8: |
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| 528 | roll1 += ADC; |
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| 529 | kanal = AD_ACC_X; |
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| 530 | break; |
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| 531 | case 9: |
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| 532 | Aktuell_ax = ADC - NeutralAccX; |
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| 533 | accx = Aktuell_ax; |
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| 534 | kanal = AD_GIER; |
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| 535 | break; |
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| 536 | case 10: |
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| 537 | gier1 += ADC; |
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| 538 | kanal = AD_NICK; |
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| 539 | break; |
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| 540 | case 11: |
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| 541 | nick1 += ADC; |
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| 542 | kanal = AD_ROLL; |
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| 543 | break; |
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| 544 | case 12: |
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| 545 | roll1 += ADC; |
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| 546 | kanal = AD_UBAT; |
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| 547 | break; |
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| 548 | case 13: |
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| 549 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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| 550 | kanal = AD_ACC_Y; |
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| 551 | break; |
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| 552 | case 14: |
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| 553 | Aktuell_ay = NeutralAccY - ADC; |
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| 554 | accy += Aktuell_ay; |
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| 555 | kanal = AD_NICK; |
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| 556 | break; |
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| 557 | case 15: |
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| 558 | nick1 += ADC; |
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| 559 | kanal = AD_ROLL; |
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| 560 | break; |
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| 561 | case 16: |
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| 562 | roll1 += ADC; |
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| 563 | kanal = AD_ACC_X; |
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| 564 | break; |
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| 565 | case 17: |
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| 566 | Aktuell_ax = ADC - NeutralAccX; |
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| 567 | accx += Aktuell_ax; |
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| 568 | kanal = AD_NICK; |
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| 569 | break; |
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| 570 | case 18: |
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| 571 | nick1 += ADC; |
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| 572 | kanal = AD_ROLL; |
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| 573 | break; |
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| 574 | case 19: |
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| 575 | roll1 += ADC; |
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| 576 | kanal = AD_GIER; |
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| 577 | break; |
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| 578 | case 20: |
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| 579 | gier1 += ADC; |
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| 580 | kanal = AD_ACC_Y; |
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| 581 | break; |
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| 582 | case 21: |
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| 583 | Aktuell_ay = NeutralAccY - ADC; |
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| 584 | accy += Aktuell_ay; |
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| 585 | kanal = AD_NICK; |
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| 586 | break; |
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| 587 | case 22: |
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| 588 | nick1 += ADC; |
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| 589 | kanal = AD_ROLL; |
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| 590 | break; |
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| 591 | case 23: |
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| 592 | roll1 += ADC; |
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| 593 | kanal = AD_DRUCK; |
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| 594 | break; |
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| 595 | case 24: |
||
| 596 | tmpLuftdruck += ADC; |
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| 597 | if(++messanzahl_Druck >= 5) |
||
| 598 | { |
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| 599 | MessLuftdruck = ADC; |
||
| 600 | messanzahl_Druck = 0; |
||
| 1167 | hbuss | 601 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
| 1166 | hbuss | 602 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
| 603 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
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| 604 | tmpLuftdruck = 0; |
||
| 605 | } |
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| 606 | kanal = AD_NICK; |
||
| 607 | break; |
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| 608 | case 25: |
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| 609 | nick1 += ADC; |
||
| 610 | kanal = AD_ROLL; |
||
| 611 | break; |
||
| 612 | case 26: |
||
| 613 | roll1 += ADC; |
||
| 614 | kanal = AD_ACC_X; |
||
| 615 | break; |
||
| 616 | case 27: |
||
| 617 | Aktuell_ax = ADC - NeutralAccX; |
||
| 618 | accx += Aktuell_ax; |
||
| 619 | kanal = AD_GIER; |
||
| 620 | break; |
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| 621 | case 28: |
||
| 622 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
||
| 623 | else |
||
| 624 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
||
| 625 | else AdWertGier = (ADC + gier1 + 1) / 2; |
||
| 626 | kanal = AD_NICK; |
||
| 627 | break; |
||
| 628 | case 29: |
||
| 629 | nick1 += ADC; |
||
| 630 | kanal = AD_ROLL; |
||
| 631 | break; |
||
| 632 | case 30: |
||
| 633 | roll1 += ADC; |
||
| 634 | kanal = AD_ACC_Y; |
||
| 635 | break; |
||
| 636 | case 31: |
||
| 637 | Aktuell_ay = NeutralAccY - ADC; |
||
| 638 | AdWertAccRoll = (Aktuell_ay + accy); |
||
| 639 | kanal = AD_NICK; |
||
| 640 | break; |
||
| 641 | case 32: |
||
| 642 | AdWertNick = (ADC + nick1 + 3) / 5; |
||
| 643 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
||
| 644 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
||
| 645 | HiResNick = nick_filter - 20 * AdNeutralNick; |
||
| 646 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
||
| 647 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
||
| 648 | kanal = AD_ROLL; |
||
| 649 | break; |
||
| 650 | case 33: |
||
| 651 | AdWertRoll = (ADC + roll1 + 3) / 5; |
||
| 652 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
||
| 653 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
||
| 654 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
||
| 655 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
||
| 656 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
||
| 657 | kanal = AD_ACC_X; |
||
| 658 | break; |
||
| 659 | case 34: |
||
| 660 | Aktuell_ax = ADC - NeutralAccX; |
||
| 661 | AdWertAccNick = (Aktuell_ax + accx); |
||
| 662 | kanal = AD_NICK; |
||
| 663 | state = 0; |
||
| 664 | AdReady = 1; |
||
| 665 | ZaehlMessungen++; |
||
| 666 | break; |
||
| 667 | default: |
||
| 668 | kanal = 0; |
||
| 669 | state = 0; |
||
| 670 | break; |
||
| 671 | } |
||
| 672 | ADMUX = kanal; |
||
| 673 | if(state != 0) ANALOG_ON; |
||
| 674 | } |
||
| 1171 | hbuss | 675 | */ |