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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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1250 | MartinR | 287 | tmpLuftdruck += ADC; |
288 | messanzahl_Druck ++; |
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1247 | MartinR | 289 | kanal = AD_NICK; |
290 | break; |
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291 | |||
292 | case 4: |
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293 | nick1 += ADC; |
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294 | kanal = AD_ROLL; |
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295 | break; |
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296 | case 5: |
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297 | roll1 += ADC; |
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298 | kanal = AD_ACC_Y; |
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299 | break; |
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300 | |||
301 | case 6: |
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302 | Aktuell_ay = NeutralAccY - ADC; |
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303 | AdWertAccRoll = (Aktuell_ay + accy); |
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304 | accy = Aktuell_ay; |
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305 | kanal = AD_ACC_X; |
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306 | break; |
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307 | case 7: |
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308 | Aktuell_ax = ADC - NeutralAccX; |
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309 | AdWertAccNick = (Aktuell_ax + accx); |
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310 | accx = Aktuell_ax; |
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311 | kanal = AD_NICK; |
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312 | break; |
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313 | |||
314 | case 8: |
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315 | nick1 += ADC; |
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316 | kanal = AD_ROLL; |
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317 | break; |
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318 | case 9: |
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319 | roll1 += ADC; |
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320 | kanal = AD_GIER; |
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321 | break; |
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322 | |||
323 | case 10: |
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324 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 1) / 2; |
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325 | else |
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326 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1); |
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327 | else AdWertGier = (ADC + gier1); |
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328 | kanal = AD_DRUCK; |
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329 | break; |
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330 | |||
1249 | MartinR | 331 | case 11: |
332 | |||
1247 | MartinR | 333 | /* MartinR: so war es Anfang |
1249 | MartinR | 334 | tmpLuftdruck += ADC; |
335 | if(++messanzahl_Druck >= 5) |
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336 | { |
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337 | tmpLuftdruck /= 2; |
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338 | MessLuftdruck = ADC; |
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339 | messanzahl_Druck = 0; |
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340 | HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert |
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341 | Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8; |
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342 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
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343 | tmpLuftdruck /= 2; |
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344 | } |
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1247 | MartinR | 345 | */ //MartinR: so war es Ende |
346 | |||
1249 | MartinR | 347 | // MartinR: Änderungen Anfang : // nach fc.c verschoben |
1247 | MartinR | 348 | /* |
349 | HoehenWertSumme += HoehenWert ; |
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350 | if (++ iHoehe >= 40) // MartinR: Wartezeit um auch kleine Änderungsgeschwindigkeiten erkennen zu können |
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351 | { |
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352 | HoehenWertSumme = HoehenWertSumme / iHoehe ; // MartinR: Mittelwert während der Wartezeit |
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353 | HoeheD = (int) Parameter_Luftdruck_D * (HoehenWert - HoehenWertalt) ; |
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354 | if (HoeheD < 0) HoeheD += Parameter_Luftdruck_D ; // MartinR: Digitalisierungsrauschen abmindern |
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355 | if (HoeheD > 0) HoeheD -= Parameter_Luftdruck_D ; // MartinR: entspricht - 1 Bit vom Höhenwert |
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356 | |||
357 | iHoehe = 0 ; |
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358 | HoehenWertalt = HoehenWertSumme ; |
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359 | HoehenWertSumme = 0 ; |
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360 | } |
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361 | */ |
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362 | |||
363 | // MartinR: neu |
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364 | tmpLuftdruck += ADC; |
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1250 | MartinR | 365 | //MessLuftdruck = tmpLuftdruck / 2; |
366 | MessLuftdruck = ADC; |
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367 | |||
368 | if(++messanzahl_Druck >= 5) |
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369 | { |
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370 | tmpLuftdruck -= 2616L * ExpandBaro; // -523.19 counts per 10 counts offset step |
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371 | tmpLuftdruck /= 2; |
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372 | messanzahl_Druck = 0; |
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373 | //HoeheD = (31 * HoeheD + (int) Parameter_Luftdruck_D * (int)((int)(StartLuftdruck - tmpLuftdruck) - HoehenWert))/32; // D-Anteil = neuerWert - AlterWert |
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374 | Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8; |
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375 | HoehenWert = StartLuftdruck - Luftdruck; |
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376 | //tmpLuftdruck /= 2; |
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377 | tmpLuftdruck = 0; |
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378 | } |
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379 | |||
380 | // Luftdruck = (tmpLuftdruck + 7 * Luftdruck + 4) / 8; |
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1247 | MartinR | 381 | // HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; // MartinR: zu Höhenregler |
382 | |||
383 | kanal = AD_NICK; |
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384 | break; |
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385 | |||
386 | case 12: |
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387 | nick1 += ADC; |
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388 | //if(PlatinenVersion == 10) nick1 *= 2; else nick1 *= 4; // MartinR: so war es |
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389 | //if(PlatinenVersion == 10) ; else nick1 *= 2; // MartinR: 2x Mittelung |
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390 | if(PlatinenVersion == 10) nick1 /= 2; //else nick1 *= 1; // MartinR: 4x Mittelung |
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391 | //AdWertNick = nick1 / 8; // MartinR: so war es |
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392 | //AdWertNick = nick1 / 4; // MartinR: 2x Mittelung |
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393 | AdWertNick = nick1 / 2; // MartinR: 4x Mittelung |
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394 | |||
395 | // nick_filter = (nick_filter + nick1) / 2; // MartinR: so war es |
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396 | //nick_filter = (nick_alt1 + nick1); // MartinR: anderer Nick-Filter: 2x Mittelung |
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397 | nick_filter = (nick_alt3 +nick_alt2 +nick_alt1 + nick1); // MartinR: anderer Nick-Filter: 4x Mittelung |
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398 | nick_alt3 = nick_alt2; // MartinR: anderer Nick-Filter |
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399 | nick_alt2 = nick_alt1; // MartinR: anderer Nick-Filter |
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400 | nick_alt1 = nick1; // MartinR: anderer Nick-Filter |
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401 | |||
402 | HiResNick = nick_filter - AdNeutralNick; |
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403 | //AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; // MartinR: so war es |
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404 | AdWertNickFilter = HiResNick; // MartinR: Filter deaktiviert |
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405 | kanal = AD_ROLL; |
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406 | |||
407 | break; |
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408 | case 13: |
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409 | roll1 += ADC; |
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410 | // if(PlatinenVersion == 10) roll1 *= 2; else roll1 *= 4; // MartinR: so war es |
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411 | //if(PlatinenVersion == 10) ; else roll1 *= 2; // MartinR: 2x Mittelung |
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412 | if(PlatinenVersion == 10) roll1 /= 2; //else roll1 *= 1; // MartinR: 4x Mittelung |
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413 | // AdWertRoll = roll1 / 8; // MartinR: so war es |
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414 | //AdWertRoll = roll1 / 4; // MartinR: 2x Mittelung |
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415 | AdWertRoll = roll1 / 2; // MartinR: 4x Mittelung |
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416 | |||
417 | //roll_filter = (roll_filter + roll1) / 2; // MartinR: so war es |
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418 | //roll_filter = (roll_alt1 + roll1); // MartinR: anderer Nick-Filter: 2x Mittelung |
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419 | roll_filter = (roll_alt3 + roll_alt2 + roll_alt1 + roll1); // MartinR: anderer Nick-Filter: 4x Mittelung |
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420 | roll_alt3 = roll_alt2; // MartinR: anderer Nick-Filter |
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421 | roll_alt2 = roll_alt1; // MartinR: anderer Nick-Filter |
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422 | roll_alt1 = roll1; // MartinR: anderer Nick-Filter |
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423 | |||
424 | HiResRoll = roll_filter - AdNeutralRoll; |
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425 | //AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; // MartinR: so war es |
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426 | AdWertRollFilter = HiResRoll; // MartinR: Filter deaktiviert |
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427 | |||
428 | kanal = AD_UBAT; |
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429 | |||
430 | break; |
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431 | |||
432 | case 14: |
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433 | UBat = (3 * UBat + ADC / 3) / 4; |
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434 | kanal = AD_ACC_Z; |
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435 | break; |
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436 | |||
437 | case 15: |
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438 | // AdWertAccHoch = (signed int) ADC - NeutralAccZ; // MartinR : so war es |
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439 | //AdWertAccHoch = ADC - NeutralAccZ; // MartinR: modifiziert für Tests |
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440 | /* // MartinR: deaktiviert |
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441 | |||
442 | if(AdWertAccHoch > 1) |
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443 | { |
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444 | if(NeutralAccZ < 750) |
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445 | { |
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446 | NeutralAccZ += 0.02; |
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447 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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448 | } |
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449 | } |
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450 | else if(AdWertAccHoch < -1) |
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451 | { |
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452 | if(NeutralAccZ > 550) |
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453 | { |
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454 | NeutralAccZ -= 0.02; |
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455 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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456 | } |
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457 | } |
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458 | */ // MartinR: deaktiviert Ende |
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459 | |||
460 | // messanzahl_AccHoch = 1; MartinR: deaktiviert, da nicht verwendet |
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461 | |||
462 | Aktuell_az = (Aktuell_az + ADC) / 2; |
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463 | AdWertAccHoch = Aktuell_az - NeutralAccZ; // MartinR: modifiziert für Tests |
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464 | //Mess_Integral_Hoch += AdWertAccHoch; // Integrieren // MartinR: zu Höhenregler in fc.c verschoben |
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465 | //Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen // MartinR: zu Höhenregler in fc.c verschoben |
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466 | |||
467 | AdReady = 1; |
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468 | state = 0; |
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469 | kanal = AD_NICK; |
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470 | break; |
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471 | |||
472 | default: |
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473 | kanal = 0; state = 0; kanal = AD_NICK; |
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474 | break; |
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475 | } |
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476 | |||
477 | // MartinR : geändert Ende |
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478 | |||
479 | |||
1171 | hbuss | 480 | ADMUX = kanal; |
1247 | MartinR | 481 | // if(state != 0) ANALOG_ON; // MartinR : so war es |
482 | // if(state != 0) ANALOG_START; // MartinR verschoben zu timer0 |
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483 | |||
1171 | hbuss | 484 | } |
485 | |||
486 | |||
487 | |||
488 | /* |
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489 | //####################################################################################### |
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490 | // |
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491 | SIGNAL(SIG_ADC) |
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492 | //####################################################################################### |
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493 | { |
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494 | static unsigned char kanal=0,state = 0; |
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1166 | hbuss | 495 | static signed int gier1, roll1, nick1; |
496 | static signed long nick_filter, roll_filter; |
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497 | static signed int accy, accx; |
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498 | switch(state++) |
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499 | { |
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500 | case 0: |
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501 | nick1 = ADC; |
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502 | kanal = AD_ROLL; |
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503 | break; |
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504 | case 1: |
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505 | roll1 = ADC; |
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506 | kanal = AD_GIER; |
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507 | break; |
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508 | case 2: |
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509 | gier1 = ADC; |
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510 | kanal = AD_ACC_Y; |
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511 | break; |
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512 | case 3: |
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513 | Aktuell_ay = NeutralAccY - ADC; |
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514 | accy = Aktuell_ay; |
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515 | kanal = AD_NICK; |
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516 | break; |
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517 | case 4: |
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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 5: |
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522 | roll1 += ADC; |
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523 | kanal = AD_ACC_Z; |
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524 | break; |
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525 | case 6: |
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526 | AdWertAccHoch = (signed int) ADC - NeutralAccZ; |
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527 | if(AdWertAccHoch > 1) |
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528 | { |
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529 | if(NeutralAccZ < 750) |
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530 | { |
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531 | NeutralAccZ += 0.02; |
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532 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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533 | } |
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534 | } |
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535 | else if(AdWertAccHoch < -1) |
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536 | { |
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537 | if(NeutralAccZ > 550) |
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538 | { |
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539 | NeutralAccZ-= 0.02; |
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540 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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541 | } |
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542 | } |
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543 | messanzahl_AccHoch = 1; |
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544 | Aktuell_az = ADC; |
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545 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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546 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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547 | kanal = AD_NICK; |
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548 | break; |
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549 | case 7: |
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550 | nick1 += ADC; |
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551 | kanal = AD_ROLL; |
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552 | break; |
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553 | case 8: |
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554 | roll1 += ADC; |
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555 | kanal = AD_ACC_X; |
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556 | break; |
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557 | case 9: |
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558 | Aktuell_ax = ADC - NeutralAccX; |
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559 | accx = Aktuell_ax; |
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560 | kanal = AD_GIER; |
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561 | break; |
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562 | case 10: |
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563 | gier1 += ADC; |
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564 | kanal = AD_NICK; |
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565 | break; |
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566 | case 11: |
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567 | nick1 += ADC; |
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568 | kanal = AD_ROLL; |
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569 | break; |
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570 | case 12: |
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571 | roll1 += ADC; |
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572 | kanal = AD_UBAT; |
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573 | break; |
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574 | case 13: |
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575 | UBat = (3 * UBat + ADC / 3) / 4;//(UBat + ((ADC * 39) / 256) + 19) / 2; |
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576 | kanal = AD_ACC_Y; |
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577 | break; |
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578 | case 14: |
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579 | Aktuell_ay = NeutralAccY - ADC; |
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580 | accy += Aktuell_ay; |
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581 | kanal = AD_NICK; |
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582 | break; |
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583 | case 15: |
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584 | nick1 += ADC; |
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585 | kanal = AD_ROLL; |
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586 | break; |
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587 | case 16: |
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588 | roll1 += ADC; |
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589 | kanal = AD_ACC_X; |
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590 | break; |
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591 | case 17: |
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592 | Aktuell_ax = ADC - NeutralAccX; |
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593 | accx += Aktuell_ax; |
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594 | kanal = AD_NICK; |
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595 | break; |
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596 | case 18: |
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597 | nick1 += ADC; |
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598 | kanal = AD_ROLL; |
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599 | break; |
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600 | case 19: |
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601 | roll1 += ADC; |
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602 | kanal = AD_GIER; |
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603 | break; |
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604 | case 20: |
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605 | gier1 += ADC; |
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606 | kanal = AD_ACC_Y; |
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607 | break; |
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608 | case 21: |
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609 | Aktuell_ay = NeutralAccY - ADC; |
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610 | accy += Aktuell_ay; |
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611 | kanal = AD_NICK; |
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612 | break; |
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613 | case 22: |
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614 | nick1 += ADC; |
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615 | kanal = AD_ROLL; |
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616 | break; |
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617 | case 23: |
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618 | roll1 += ADC; |
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619 | kanal = AD_DRUCK; |
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620 | break; |
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621 | case 24: |
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622 | tmpLuftdruck += ADC; |
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623 | if(++messanzahl_Druck >= 5) |
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624 | { |
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625 | MessLuftdruck = ADC; |
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626 | messanzahl_Druck = 0; |
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1167 | hbuss | 627 | HoeheD = (7 * HoeheD + (int) Parameter_Luftdruck_D * (int)(255 * ExpandBaro + StartLuftdruck - tmpLuftdruck - HoehenWert)) / 8; // D-Anteil = neuerWert - AlterWert |
1166 | hbuss | 628 | Luftdruck = (tmpLuftdruck + 3 * Luftdruck) / 4; |
629 | HoehenWert = 255 * ExpandBaro + StartLuftdruck - Luftdruck; |
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630 | tmpLuftdruck = 0; |
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631 | } |
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632 | kanal = AD_NICK; |
||
633 | break; |
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634 | case 25: |
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635 | nick1 += ADC; |
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636 | kanal = AD_ROLL; |
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637 | break; |
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638 | case 26: |
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639 | roll1 += ADC; |
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640 | kanal = AD_ACC_X; |
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641 | break; |
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642 | case 27: |
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643 | Aktuell_ax = ADC - NeutralAccX; |
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644 | accx += Aktuell_ax; |
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645 | kanal = AD_GIER; |
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646 | break; |
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647 | case 28: |
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648 | if(PlatinenVersion == 10) AdWertGier = (ADC + gier1 + 2) / 4; |
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649 | else |
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650 | if(PlatinenVersion == 20) AdWertGier = 2047 - (ADC + gier1 + 1) / 2; |
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651 | else AdWertGier = (ADC + gier1 + 1) / 2; |
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652 | kanal = AD_NICK; |
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653 | break; |
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654 | case 29: |
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655 | nick1 += ADC; |
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656 | kanal = AD_ROLL; |
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657 | break; |
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658 | case 30: |
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659 | roll1 += ADC; |
||
660 | kanal = AD_ACC_Y; |
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661 | break; |
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662 | case 31: |
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663 | Aktuell_ay = NeutralAccY - ADC; |
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664 | AdWertAccRoll = (Aktuell_ay + accy); |
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665 | kanal = AD_NICK; |
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666 | break; |
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667 | case 32: |
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668 | AdWertNick = (ADC + nick1 + 3) / 5; |
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669 | nick_filter = (long) (1 * (long) nick_filter + 4 * (long)(ADC + nick1) + 1) / 2; |
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670 | if(PlatinenVersion == 10) { AdWertNick /= 2;nick_filter /=2;} |
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671 | HiResNick = nick_filter - 20 * AdNeutralNick; |
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672 | AdWertNickFilter = (long)(3L * (long)AdWertNickFilter + HiResNick + 2) / 4; |
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673 | DebugOut.Analog[21] = AdWertNickFilter / 4; |
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674 | kanal = AD_ROLL; |
||
675 | break; |
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676 | case 33: |
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677 | AdWertRoll = (ADC + roll1 + 3) / 5; |
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678 | roll_filter = (long)(1 * (long)roll_filter + 4 * (long)(ADC + roll1) + 1) / 2; |
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679 | if(PlatinenVersion == 10) { AdWertRoll /= 2;roll_filter /=2;} |
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680 | HiResRoll = roll_filter - 20 * AdNeutralRoll; |
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681 | AdWertRollFilter = (long)(3L * (long)AdWertRollFilter + HiResRoll + 2) / 4; |
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682 | DebugOut.Analog[22] = AdWertRollFilter / 4; |
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683 | kanal = AD_ACC_X; |
||
684 | break; |
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685 | case 34: |
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686 | Aktuell_ax = ADC - NeutralAccX; |
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687 | AdWertAccNick = (Aktuell_ax + accx); |
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688 | kanal = AD_NICK; |
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689 | state = 0; |
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690 | AdReady = 1; |
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691 | ZaehlMessungen++; |
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692 | break; |
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693 | default: |
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694 | kanal = 0; |
||
695 | state = 0; |
||
696 | break; |
||
697 | } |
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698 | ADMUX = kanal; |
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699 | if(state != 0) ANALOG_ON; |
||
700 | } |
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1171 | hbuss | 701 | */ |