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1 ingob 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + only for non-profit use
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// + www.MikroKopter.com
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// + see the File "License.txt" for further Informations
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <stdlib.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "analog.h"
1 ingob 12
#include "main.h"
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#include "timer0.h"
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#include "fc.h"
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#include "printf_P.h"
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#include "eeprom.h"
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#include "twimaster.h"
1 ingob 18
 
886 killagreg 19
volatile int16_t Current_AccZ = 0;
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volatile int16_t UBat = 100;
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volatile int16_t AdValueGyrNick = 0, AdValueGyrRoll = 0,  AdValueGyrYaw = 0;
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uint8_t AnalogOffsetNick = 115, AnalogOffsetRoll = 115, AnalogOffsetYaw = 115;
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uint8_t GyroDefectNick = 0, GyroDefectRoll = 0, GyroDefectYaw = 0;
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volatile int16_t AdValueAccRoll = 0,  AdValueAccNick = 0, AdValueAccTop = 0;
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volatile int32_t AirPressure = 32000;
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volatile uint8_t average_pressure = 0;
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volatile int16_t StartAirPressure;
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volatile uint16_t ReadingAirPressure = 1023;
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uint8_t PressureSensorOffset;
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volatile int16_t HeightD = 0;
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volatile uint16_t MeasurementCounter = 0;
1 ingob 32
 
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/*****************************************************/
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/*     Initialize Analog Digital Converter           */
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/*****************************************************/
1 ingob 36
void ADC_Init(void)
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{
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        uint8_t sreg = SREG;
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        // disable all interrupts before reconfiguration
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        cli();
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        //ADC0 ... ADC7 is connected to PortA pin 0 ... 7
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        DDRA = 0x00;
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        PORTA = 0x00;
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        // Digital Input Disable Register 0
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        // Disable digital input buffer for analog adc_channel pins
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        DIDR0 = 0xFF;
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        // external reference, adjust data to the right
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    ADMUX &= ~((1 << REFS1)|(1 << REFS0)|(1 << ADLAR));
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    // set muxer to ADC adc_channel 0 (0 to 7 is a valid choice)
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    ADMUX = (ADMUX & 0xE0) | 0x00;
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    //Set ADC Control and Status Register A
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    //Auto Trigger Enable, Prescaler Select Bits to Division Factor 128, i.e. ADC clock = SYSCKL/128 = 156.25 kHz
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    ADCSRA = (1<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0);
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        //Set ADC Control and Status Register B
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        //Trigger Source to Free Running Mode
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        ADCSRB &= ~((1 << ADTS2)|(1 << ADTS1)|(1 << ADTS0));
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        // Enable AD conversion
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        ADC_Enable();
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    // restore global interrupt flags
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    SREG = sreg;
1 ingob 61
}
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void SearchAirPressureOffset(void)
1 ingob 64
{
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        uint8_t off;
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        off = GetParamByte(PID_PRESSURE_OFFSET);
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        if(off > 20) off -= 10;
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        OCR0A = off;
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        Delay_ms_Mess(100);
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        if(ReadingAirPressure < 850) off = 0;
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        for(; off < 250;off++)
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        {
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                OCR0A = off;
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                Delay_ms_Mess(50);
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                printf(".");
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                if(ReadingAirPressure < 900) break;
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        }
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        SetParamByte(PID_PRESSURE_OFFSET, off);
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        PressureSensorOffset = off;
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        Delay_ms_Mess(300);
1 ingob 81
}
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void SearchGyroOffset(void)
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{
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        uint8_t i, ready = 0;
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        GyroDefectNick = 0; GyroDefectRoll = 0; GyroDefectYaw = 0;
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        for(i = 140; i != 0; i--)
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        {
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                if(ready == 3 && i > 10) i = 9;
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                ready = 0;
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                if(AdValueGyrNick < 1020) AnalogOffsetNick--; else if(AdValueGyrNick > 1030) AnalogOffsetNick++; else ready++;
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                if(AdValueGyrRoll < 1020) AnalogOffsetRoll--; else if(AdValueGyrRoll > 1030) AnalogOffsetRoll++; else ready++;
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                if(AdValueGyrYaw  < 1020) AnalogOffsetYaw-- ; else if(AdValueGyrYaw  > 1030) AnalogOffsetYaw++ ; else ready++;
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                twi_state = TWI_STATE_GYRO_OFFSET_TX; // set twi_state in TWI ISR to start of Gyro Offset
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                I2C_Start();   // initiate data transmission
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                if(AnalogOffsetNick < 10)  { GyroDefectNick = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefectNick = 1; AnalogOffsetNick = 245;};
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                if(AnalogOffsetRoll < 10)  { GyroDefectRoll = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefectRoll = 1; AnalogOffsetRoll = 245;};
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                if(AnalogOffsetYaw  < 10)  { GyroDefectYaw  = 1; AnalogOffsetYaw  = 10;}; if(AnalogOffsetYaw  > 245) { GyroDefectYaw  = 1; AnalogOffsetYaw  = 245;};
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                while(twi_state); // wait for end of data transmission
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                average_pressure = 0;
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                ADC_Enable();
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                while(average_pressure == 0);
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                if(i < 10) Delay_ms_Mess(10);
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        }
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        Delay_ms_Mess(70);
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}
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/*****************************************************/
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/*     Interrupt Service Routine for ADC             */
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/*****************************************************/
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// runs at 156.25 kHz or 6.4 µs
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// if after (70.4µs) all 11 states are processed the interrupt is disabled
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// and the update of further ads is stopped
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// The routine changes the ADC input muxer running
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// thru the state machine by the following order.
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// state 0: ch0 (yaw gyro)
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// state 1: ch1 (roll gyro)
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// state 2: ch2 (nick gyro)
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// state 3: ch4 (battery voltage -> UBat)
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// state 4: ch6 (acc y -> Current_AccY)
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// state 5: ch7 (acc x -> Current_AccX)
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// state 6: ch0 (yaw gyro average with first reading   -> AdValueGyrYaw)
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// state 7: ch1 (roll gyro average with first reading  -> AdValueGyrRoll)
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// state 8: ch2 (nick gyro average with first reading -> AdValueGyrNick)
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// state 9: ch5 (acc z add also 4th part of acc x and acc y to reading)
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// state10: ch3 (air pressure averaging over 5 single readings -> tmpAirPressure)
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ISR(ADC_vect)
1 ingob 134
{
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    static uint8_t adc_channel = 0, state = 0;
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    static uint16_t yaw1, roll1, nick1;
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    static int16_t tmpAirPressure = 0;
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    // disable further AD conversion
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    ADC_Disable();
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    // state machine
1 ingob 141
    switch(state++)
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        {
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        case 0:
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            yaw1 = ADC; // get Gyro Yaw Voltage 1st sample
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            adc_channel = 1; // set next channel to ADC1 = ROLL GYRO
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            MeasurementCounter++; // increment total measurement counter
1 ingob 147
            break;
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        case 1:
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            roll1 = ADC; // get Gyro Roll Voltage 1st sample
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            adc_channel = 2; // set next channel to ADC2 = NICK GYRO
1 ingob 151
            break;
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        case 2:
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            nick1 = ADC; // get Gyro Nick Voltage 1st sample
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            adc_channel = 4; // set next channel to ADC4 = UBAT
1 ingob 155
            break;
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        case 3:
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                // get actual UBat (Volts*10) is ADC*30V/1024*10 = ADC/3
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            UBat = (3 * UBat + ADC / 3) / 4; // low pass filter updates UBat only to 1 quater with actual ADC value
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            adc_channel = 6; // set next channel to ADC6 = ACC_Y
1 ingob 160
            break;
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        case 4:
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            AdValueAccRoll = NeutralAccY - ADC; // get acceleration in Y direction
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            adc_channel = 7; // set next channel to ADC7 = ACC_X
1 ingob 164
            break;
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        case 5:
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            AdValueAccNick = ADC - NeutralAccX; // get acceleration in X direction
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                    adc_channel = 0; // set next channel to ADC7 = YAW GYRO
1 ingob 168
            break;
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        case 6:
886 killagreg 170
                // average over two samples to create current AdValueGyrYaw
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            if(BoardRelease == 10)  AdValueGyrYaw = (ADC + yaw1) / 2;
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                        else                                    AdValueGyrYaw = ADC + yaw1; // gain is 2 times lower on FC 1.1
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            adc_channel = 1; // set next channel to ADC7 = ROLL GYRO
401 hbuss 174
            break;
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        case 7:
886 killagreg 176
                // average over two samples to create current ADValueGyrRoll
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            if(BoardRelease == 10)  AdValueGyrRoll = (ADC + roll1) / 2;
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                        else                                    AdValueGyrRoll = ADC + roll1; // gain is 2 times lower on FC 1.1
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            adc_channel = 2; // set next channel to ADC2 = NICK GYRO
401 hbuss 180
            break;
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        case 8:
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                // average over two samples to create current ADValueNick
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            if(BoardRelease == 10)  AdValueGyrNick = (ADC + nick1) / 2;
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                        else                                    AdValueGyrNick = ADC + nick1; // gain is 2 times lower on FC 1.1
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            adc_channel = 5; // set next channel to ADC5 = ACC_Z
401 hbuss 186
            break;
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       case 9:
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                // get z acceleration
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            AdValueAccTop =  (int16_t) ADC - NeutralAccZ; // get plain acceleration in Z direction
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            AdValueAccTop += abs(AdValueAccNick) / 4 + abs(AdValueAccRoll) / 4;
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            if(AdValueAccTop > 1)
1 ingob 192
             {
886 killagreg 193
                if(NeutralAccZ < 750)
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                {
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                                        NeutralAccZ += 0.02;
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                                        if(Model_Is_Flying < 500) NeutralAccZ += 0.1;
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                                }
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             }
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             else if(AdValueAccTop < -1)
1 ingob 200
             {
886 killagreg 201
                if(NeutralAccZ > 550)
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                {
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                                        NeutralAccZ-= 0.02;
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                                        if(Model_Is_Flying < 500) NeutralAccZ -= 0.1;
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                                }
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             }
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            Current_AccZ = ADC;
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            Reading_Integral_Top += AdValueAccTop;      // Integrieren
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            Reading_Integral_Top -= Reading_Integral_Top / 1024; // dämfen
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                adc_channel = 3; // set next channel to ADC3 = air pressure
1 ingob 211
            break;
401 hbuss 212
        case 10:
886 killagreg 213
            tmpAirPressure += ADC; // sum vadc values
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            if(++average_pressure >= 5) // if 5 values are summerized for averaging
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            {
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                ReadingAirPressure = ADC; // update measured air pressure
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                                HeightD = (7 * HeightD + (int16_t)FCParam.Height_D * (int16_t)(StartAirPressure - tmpAirPressure - ReadingHeight))/8;  // D-Part = CurrentValue - OldValue
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                AirPressure = (tmpAirPressure + 3 * AirPressure) / 4; // averaging using history
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                ReadingHeight = StartAirPressure - AirPressure;
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                average_pressure = 0; // reset air pressure measurement counter
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                tmpAirPressure = 0;
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            }
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            adc_channel = 0; // set next channel to ADC0 = GIER GYRO
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            state = 0; // reset state machine
1 ingob 225
            break;
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        default:
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            adc_channel = 0;
1 ingob 228
            state = 0;
229
            break;
886 killagreg 230
        }
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    // set adc muxer to next adc_channel
232
    ADMUX = (ADMUX & 0xE0) | adc_channel;
233
    // after full cycle stop further interrupts
234
    if(state != 0) ADC_Enable();
1 ingob 235
}