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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2246 | - | 1 | /***************************************************************************************************************************** |
| 2 | * File: analog.c |
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| 3 | * |
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| 4 | * Purpose: collecting ADC analog inputs from PORTA |
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| 5 | * |
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| 6 | * Functions: void ADC_Init(void) |
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| 7 | * void SucheLuftruckOffset(void) |
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| 8 | * void SucheGyroOffset(void) |
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| 9 | * ISR(ADC_vect) |
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| 10 | * |
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| 11 | *****************************************************************************************************************************/ |
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| 12 | #include "analog.h" |
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| 13 | #include "main.h" |
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| 14 | |||
| 15 | volatile int Aktuell_Nick, Aktuell_Roll, Aktuell_Gier, Aktuell_ax, Aktuell_ay, Aktuell_az, UBat = 100; |
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| 16 | volatile int AdWertNickFilter = 0, AdWertRollFilter = 0, AdWertGierFilter = 0; |
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| 17 | volatile int HiResNick = 2500, HiResRoll = 2500; |
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| 18 | volatile int AdWertNick = 0, AdWertRoll = 0, AdWertGier = 0; |
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| 19 | volatile int AdWertAccRoll = 0, AdWertAccNick = 0, AdWertAccHoch = 0; |
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| 20 | volatile char messanzahl_AccHoch = 0; |
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| 21 | volatile long Luftdruck = 32000; |
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| 22 | volatile long SummenHoehe = 0; |
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| 23 | volatile int StartLuftdruck; |
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| 24 | volatile unsigned int MessLuftdruck = 1023; |
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| 25 | unsigned char DruckOffsetSetting; |
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| 26 | signed char ExpandBaro = 0; |
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| 27 | volatile int VarioMeter = 0; |
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| 28 | volatile unsigned int ZaehlMessungen = 0; |
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| 29 | unsigned char AnalogOffsetNick = 115, AnalogOffsetRoll = 115, AnalogOffsetGier = 115; |
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| 30 | unsigned char GyroDefektN = 0, GyroDefektR = 0, GyroDefektG = 0; |
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| 31 | volatile unsigned char AdReady = 1; |
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| 32 | |||
| 33 | |||
| 34 | // ************************************************************************************************************************************* |
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| 35 | // initialize the analog digital converter ADC |
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| 36 | // ------------------------------------------------------------------------------------------------------------------------------------- |
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| 37 | void ADC_Init(void) |
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| 38 | { |
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| 39 | // ADMUX = ADC Multiplexer Selection Register –> REFS1 REFS0 ADLAR MUX4 MUX3 MUX2 MUX1 MUX0 |
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| 40 | // ----------------------------------------------------------------------------------------- |
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| 41 | // REFS1:0 = Reference Selection Bits |
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| 42 | // ADLAR = ADC Left Adjust Result |
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| 43 | // MUX4:0 = Analog Channel and Gain Selection Bits |
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| 44 | // |
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| 45 | ADMUX = 0; // AREF, Internal Vref is turned off |
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| 46 | // // the result is right adjusted |
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| 47 | // // MUX = 00000 = ADC0 |
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| 48 | |||
| 49 | |||
| 50 | // ADCSRA = Analog Digital Conversion Status Register A -> ADEN ADSC ADATE ADIF ADIE ADPS2 ADPS1 ADPS0 |
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| 51 | // --------------------------------------------------------------------------------------------------- |
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| 52 | // ADEN = Writing this bit to one enables the ADC |
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| 53 | // ADSC = start conversion |
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| 54 | // ADATE = When this bit is written to one, Auto Triggering of the ADC is enabled |
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| 55 | // ADIE = ADC Interrupt Enable. When this bit is written to one and the I-bit in SREG is set, the ADC Conversion Complete Interrupt is activated. |
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| 56 | // ADPS = These bits determine the division factor between the XTAL frequency and the input clock to the ADC. |
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| 57 | // Prescaler with ADPS2 ADPS1 ADPS0 = 111 = Division Factor 128 = 156.25 kHz |
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| 58 | // |
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| 59 | ANALOG_ON; // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADIE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0) |
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| 60 | } |
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| 61 | // *** EOF: void ADC_Init(void) ************************************************************************************ |
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| 62 | |||
| 63 | |||
| 64 | #define DESIRED_H_ADC 800 |
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| 65 | |||
| 66 | |||
| 67 | |||
| 68 | // ********************************************************************************************************************************* |
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| 69 | // initialize the air pressure offset |
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| 70 | // ------------------------------------ |
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| 71 | void SucheLuftruckOffset(void) |
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| 72 | { |
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| 73 | unsigned int off; |
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| 74 | |||
| 75 | off = eeprom_read_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET]); |
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| 76 | if(off > 20) off -= 10; |
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| 77 | OCR0A = off; // Timer/Counter0 Output Compare Register A |
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| 78 | ExpandBaro = 0; |
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| 79 | Delay_ms_Mess(100); // -> timer0.c |
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| 80 | if(MessLuftdruck < DESIRED_H_ADC) off = 0; // #define DESIRED_H_ADC 800 |
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| 81 | |||
| 82 | for(; off < 250;off++) |
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| 83 | { |
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| 84 | OCR0A = off; |
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| 85 | Delay_ms_Mess(50); |
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| 86 | printf("."); |
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| 87 | if(MessLuftdruck < DESIRED_H_ADC) break; |
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| 88 | } |
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| 89 | |||
| 90 | eeprom_write_byte(&EEPromArray[EEPROM_ADR_LAST_OFFSET], off); |
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| 91 | DruckOffsetSetting = off; |
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| 92 | Delay_ms_Mess(300); |
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| 93 | } |
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| 94 | // *** EOF: SucheLuftruckOffset(void) ********************************************************************************************** |
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| 95 | |||
| 96 | |||
| 97 | |||
| 98 | // ********************************************************************************************************************************* |
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| 99 | // initialize the Gyro-Offset |
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| 100 | // --------------------------- |
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| 101 | void SucheGyroOffset(void) |
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| 102 | { |
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| 103 | unsigned char i, ready = 0; |
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| 104 | int timeout; |
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| 105 | |||
| 106 | GyroDefektN = 0; GyroDefektR = 0; GyroDefektG = 0; |
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| 107 | timeout = SetDelay(2000); |
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| 108 | |||
| 109 | for(i=140; i != 0; i--) |
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| 110 | { |
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| 111 | if(ready==3 && i>10) i = 9; |
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| 112 | ready = 0; |
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| 113 | if(AdWertNick < 1020) AnalogOffsetNick--; else if(AdWertNick > 1030) AnalogOffsetNick++; else ready++; |
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| 114 | if(AdWertRoll < 1020) AnalogOffsetRoll--; else if(AdWertRoll > 1030) AnalogOffsetRoll++; else ready++; |
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| 115 | if(AdWertGier < 1020) AnalogOffsetGier--; else if(AdWertGier > 1030) AnalogOffsetGier++; else ready++; |
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| 116 | twi_state = 8; |
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| 117 | i2c_start(); |
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| 118 | if(AnalogOffsetNick < 10) { GyroDefektN = 1; AnalogOffsetNick = 10;}; if(AnalogOffsetNick > 245) { GyroDefektN = 1; AnalogOffsetNick = 245;}; |
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| 119 | if(AnalogOffsetRoll < 10) { GyroDefektR = 1; AnalogOffsetRoll = 10;}; if(AnalogOffsetRoll > 245) { GyroDefektR = 1; AnalogOffsetRoll = 245;}; |
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| 120 | if(AnalogOffsetGier < 10) { GyroDefektG = 1; AnalogOffsetGier = 10;}; if(AnalogOffsetGier > 245) { GyroDefektG = 1; AnalogOffsetGier = 245;}; |
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| 121 | while(twi_state) if(CheckDelay(timeout)) {printf("\n\r DAC or I2C ERROR! Check I2C, 3Vref, DAC and BL-Ctrl"); break;} |
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| 122 | AdReady = 0; |
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| 123 | |||
| 124 | ANALOG_ON; // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
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| 125 | while(!AdReady); |
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| 126 | if(i<10) Delay_ms_Mess(10); |
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| 127 | } |
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| 128 | |||
| 129 | Delay_ms_Mess(70); |
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| 130 | } |
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| 131 | // *** EOF: SucheGyroOffset(void) ************************************************************************************************** |
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| 132 | |||
| 133 | |||
| 134 | |||
| 135 | // ********************************************************************************************************************************* |
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| 136 | // read analog input with the following sequence: |
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| 137 | // --------------------------------------------------------------------------------------------------- |
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| 138 | // case: |
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| 139 | // 0 nick-gyro |
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| 140 | // 1 roll-gyro |
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| 141 | // 2 gier-gyro |
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| 142 | // 3 y acc roll |
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| 143 | // 4 x acc nick |
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| 144 | // 5 nick-gyro |
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| 145 | // 6 roll-gyro |
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| 146 | // 7 voltage V |
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| 147 | // 8 z acc |
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| 148 | // 9 air pressure |
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| 149 | // 10 nick-gyro |
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| 150 | // 11 roll-gyro |
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| 151 | // 12 gier-gyro |
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| 152 | // 13 y acc roll |
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| 153 | // 14 x acc nick |
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| 154 | // 15 nick-gyro |
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| 155 | // 16 roll-gyro |
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| 156 | // 17 air pressure |
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| 157 | // --------------------------------------------------------------------------------------------------- |
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| 158 | ISR(ADC_vect) |
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| 159 | { |
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| 160 | static unsigned char kanal=0,state = 0; |
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| 161 | static signed int gier1, roll1, nick1, nick_filter, roll_filter; |
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| 162 | static signed int accy, accx; |
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| 163 | static long tmpLuftdruck = 0; |
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| 164 | static char messanzahl_Druck = 0; |
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| 165 | |||
| 166 | switch(state++) |
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| 167 | { |
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| 168 | case 0: // nick gyro |
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| 169 | nick1 = ADC; // Messwert Nick aus dem Gyroskop (kippen nach vorne-hinten) |
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| 170 | kanal = AD_ROLL; // #define AD_ROLL 1 |
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| 171 | break; |
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| 172 | |||
| 173 | case 1: // roll gyro |
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| 174 | roll1 = 512; // Messwert Roll aus dem Gyroskop (kippen nach rechts-links) |
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| 175 | kanal = AD_GIER; // #define AD_GIER 0 |
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| 176 | break; |
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| 177 | |||
| 178 | case 2: // gier gyro |
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| 179 | gier1 = 512; // Messwert Gier aus dem Gyroskop (drehen um Hochachse) |
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| 180 | kanal = AD_ACC_Y; // #define AD_ACC_Y 6 // Rollen |
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| 181 | break; |
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| 182 | |||
| 183 | case 3: // y acc roll |
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| 184 | Aktuell_ay = NeutralAccY - 512; |
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| 185 | accy = Aktuell_ay; // Messwert Y=Roll des ACC Sensors |
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| 186 | kanal = AD_ACC_X; // #define AD_ACC_X 7 // Nicken |
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| 187 | break; |
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| 188 | |||
| 189 | case 4: |
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| 190 | Aktuell_ax = ADC - NeutralAccX; // Messwert X=Nick des ACC Sensors |
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| 191 | accx = Aktuell_ax; |
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| 192 | kanal = AD_NICK; // #define AD_NICK 2 |
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| 193 | break; |
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| 194 | |||
| 195 | case 5: |
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| 196 | nick1 += ADC; // Messwert Nick aus dem Gyroskop (kippen nach vorne-hinten) |
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| 197 | kanal = AD_ROLL; // #define AD_ROLL 1 |
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| 198 | break; |
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| 199 | |||
| 200 | case 6: |
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| 201 | roll1 += 512; // Messwert Roll aus dem Gyroskop (kippen nach rechts-links) |
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| 202 | kanal = AD_UBAT; // #define AD_UBAT 4 |
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| 203 | break; |
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| 204 | |||
| 205 | case 7: |
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| 206 | UBat = (3 * UBat + ADC / 3) / 4; // Voltage |
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| 207 | kanal = AD_ACC_Z; // #define AD_ACC_Z 5 |
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| 208 | break; |
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| 209 | |||
| 210 | case 8: // Z acc Sensor |
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| 211 | AdWertAccHoch = 512 - NeutralAccZ; |
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| 212 | if(AdWertAccHoch > 1) |
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| 213 | { |
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| 214 | if(NeutralAccZ < 750) |
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| 215 | { |
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| 216 | NeutralAccZ += 0.02; |
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| 217 | if(modell_fliegt < 500) NeutralAccZ += 0.1; |
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| 218 | } |
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| 219 | } |
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| 220 | else if(AdWertAccHoch < -1) |
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| 221 | { |
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| 222 | if(NeutralAccZ > 550) |
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| 223 | { |
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| 224 | NeutralAccZ-= 0.02; |
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| 225 | if(modell_fliegt < 500) NeutralAccZ -= 0.1; |
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| 226 | } |
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| 227 | } |
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| 228 | messanzahl_AccHoch = 1; // Messwert Z des ACC Sensors |
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| 229 | Aktuell_az = 512; |
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| 230 | Mess_Integral_Hoch += AdWertAccHoch; // Integrieren |
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| 231 | Mess_Integral_Hoch -= Mess_Integral_Hoch / 1024; // dämfen |
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| 232 | kanal = AD_DRUCK; |
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| 233 | break; |
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| 234 | |||
| 235 | // "case 9:" fehlt hier absichtlich |
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| 236 | |||
| 237 | case 10: |
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| 238 | nick1 += ADC; |
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| 239 | kanal = AD_ROLL; // #define AD_ROLL 1 |
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| 240 | break; |
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| 241 | |||
| 242 | case 11: |
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| 243 | roll1 += 512; |
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| 244 | kanal = AD_GIER; // #define AD_GIER 0 |
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| 245 | break; |
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| 246 | |||
| 247 | case 12: |
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| 248 | AdWertGier = (512 + gier1); // AdWertGier müsste so um die 1020 liegen |
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| 249 | kanal = AD_ACC_Y; // #define AD_ACC_Y 6 |
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| 250 | break; |
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| 251 | |||
| 252 | case 13: |
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| 253 | Aktuell_ay = NeutralAccY - 512; |
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| 254 | AdWertAccRoll = (Aktuell_ay + accy); // Messwert Roll des ACC Sensors |
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| 255 | kanal = AD_ACC_X; // #define AD_ACC_X 7 |
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| 256 | break; |
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| 257 | |||
| 258 | case 14: |
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| 259 | Aktuell_ax = ADC - NeutralAccX; |
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| 260 | AdWertAccNick = (Aktuell_ax + accx); // 2nd measure of ACC Nick Sensor 0...512 |
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| 261 | kanal = AD_NICK; // #define AD_NICK 2 |
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| 262 | break; |
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| 263 | |||
| 264 | case 15: |
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| 265 | nick1 += ADC; |
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| 266 | nick1 *= 4; |
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| 267 | AdWertNick = nick1 / 8; // dieser Wert ist doppelt so hoch wie ADC |
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| 268 | nick_filter = (nick_filter + nick1) / 2; // nick_filter müsste mit ca 500 passen |
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| 269 | HiResNick = nick_filter - AdNeutralNick; // der Wert wird hier auf den Nullpunkt normiert |
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| 270 | AdWertNickFilter = (AdWertNickFilter + HiResNick) / 2; // und gefiltert |
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| 271 | kanal = AD_ROLL; // #define AD_ROLL 1 |
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| 272 | break; |
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| 273 | |||
| 274 | case 16: |
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| 275 | roll1 += 512; |
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| 276 | roll1 *= 4; |
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| 277 | AdWertRoll = roll1 / 8; // dieser Wert ist doppelt so hoch wie ADC |
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| 278 | roll_filter = (roll_filter + roll1) / 2; // ähnlich wie bei Nick in case 15 |
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| 279 | HiResRoll = roll_filter - AdNeutralRoll; // der Wert wird hier auf den Nullpunkt normiert |
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| 280 | AdWertRollFilter = (AdWertRollFilter + HiResRoll) / 2; // und gefiltert |
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| 281 | kanal = AD_DRUCK; // #define AD_DRUCK 3 |
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| 282 | break; |
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| 283 | |||
| 284 | case 17: |
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| 285 | state = 0; |
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| 286 | AdReady = 1; // alle Analogeingänge sind nun bedient worden |
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| 287 | ZaehlMessungen++; // counts one up as all cases have been passed through |
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| 288 | // "break" fehlt hier absichtlich |
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| 289 | case 9: |
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| 290 | MessLuftdruck = 512; |
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| 291 | tmpLuftdruck += MessLuftdruck; |
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| 292 | if(++messanzahl_Druck >= 18) |
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| 293 | { |
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| 294 | Luftdruck = (7 * Luftdruck + tmpLuftdruck - (18 * 523) * (long)ExpandBaro + 4) / 8; // -523.19 counts per 10 counts offset step |
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| 295 | HoehenWert = StartLuftdruck - Luftdruck; |
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| 296 | SummenHoehe -= SummenHoehe / SM_FILTER; // #define SM_FILTER 16 |
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| 297 | SummenHoehe += HoehenWert; |
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| 298 | VarioMeter = (15 * VarioMeter + 8 * (int)(HoehenWert - SummenHoehe/SM_FILTER))/16; |
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| 299 | tmpLuftdruck /= 2; |
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| 300 | messanzahl_Druck = 18/2; |
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| 301 | } |
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| 302 | kanal = AD_NICK; // #define AD_NICK 2 |
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| 303 | break; |
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| 304 | |||
| 305 | default: |
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| 306 | kanal = 0; state = 0; kanal = AD_NICK; // #define AD_NICK 2 |
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| 307 | break; |
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| 308 | } |
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| 309 | ADMUX = kanal; |
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| 310 | if(state != 0) ANALOG_ON; // #define ANALOG_ON ADCSRA=(1<<ADEN)|(1<<ADSC)|(0<<ADATE)|(1<<ADPS2)|(1<<ADPS1)|(1<<ADPS0)|(1<<ADIE) |
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| 311 | |||
| 312 | } |
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| 313 | // EOF : ISR(ADC_vect) **************************************************************************************************************** |
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| 314 | |||
| 315 | |||
| 316 |